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11. 发明授权

US09269003B2 Diminished and mediated reality effects from reconstruction 有权
标题翻译：减少和介导重建的现实效应
公开(公告)号：US09269003B2
公开(公告)日：2016-02-23
申请号：US14225157
申请日：2014-03-25
申请人： QUALCOMM Incorporated
发明人： Dieter Schmalstieg
IPC分类号： G06K9/00 , G06T7/20 , G06T19/00 , G06T15/00
CPC分类号： G06K9/00624 , G06T7/20 , G06T19/006
摘要： Disclosed embodiments pertain to apparatus, systems, and methods for mixed reality. In some embodiments, a camera pose relative to a tracked object in a live image may be determined and used to render synthetic images from keyframes in a 3D model without the tracked object. Optical flow magnitudes for pixels in a first mask region relative to a subset of the synthetic images may be determined and the optical flow magnitudes may be used to determine pixels in each of the subset of synthetic images that correspond to pixels in the first mask. For each pixel in the first mask, a corresponding replacement pixel may be determined as a function of pixels in the subset of synthetic images that correspond to the corresponding pixel in the first mask.
摘要翻译：公开的实施例涉及用于混合现实的装置，系统和方法。在一些实施例中，可以确定相对于实时图像中的被跟踪对象的照相机姿态并用于在没有被跟踪对象的3D模型中从关键帧渲染合成图像。可以确定第一掩模区域中相对于合成图像的子集的像素的光学流量大小，并且可以使用光学流量幅度来确定与第一掩模中的像素对应的合成图像的每个子集中的像素。对于第一掩模中的每个像素，可以将对应的替换像素确定为与第一掩码中的对应像素对应的合成图像的子集中的像素的函数。

12. 发明申请

US20150262428A1 HIERARCHICAL CLUSTERING FOR VIEW MANAGEMENT AUGMENTED REALITY 审中-公开
标题翻译：用于视图管理的分层聚类已实现现实
公开(公告)号：US20150262428A1
公开(公告)日：2015-09-17
申请号：US14640981
申请日：2015-03-06
申请人： QUALCOMM Incorporated
发明人： Markus Tatzgern , Denis Kalkofen , Dieter Schmalstieg , Raphael David Andre Grasset
IPC分类号： G06T19/00 , G06T7/00 , G06T17/00
CPC分类号： G06T19/006 , G06F3/011 , G06F3/017 , G06F3/147 , G06K9/00671 , G06T11/00 , G06T2210/61
摘要： Methods, systems, computer-readable media, and apparatuses for hierarchical clustering for view management in augmented reality are presented. For example one disclosed method includes the steps of accessing point of interest (POI) metadata for a plurality of points of interest associated with a scene; generating a hierarchical cluster tree for at least a portion of the POIs; establishing a plurality of subdivisions associated with the scene; selecting a plurality of POIs from the hierarchical cluster tree for display based on an augmented reality (AR) viewpoint of the scene, the plurality of subdivisions, and a traversal of at least a portion of the hierarchical cluster tree; and displaying labels comprising POI metadata associated with the selected plurality of POIs, the displaying based on placements determined using image-based saliency.
摘要翻译：提出了用于增强现实中的视图管理的层次聚类的方法，系统，计算机可读介质和装置。例如，一种公开的方法包括以下步骤：为与场景相关联的多个感兴趣点访问兴趣点（POI）元数据; 为所述POI的至少一部分生成分层聚簇树; 建立与场景相关联的多个细分; 基于所述场景的增强现实（AR）视点，所述多个子部分以及所述分层聚簇树的至少一部分的遍历来从所述分层聚簇树中选择多个POI以进行显示; 以及显示包括与所选择的多个POI相关联的POI元数据的标签，基于使用基于图像的显着性确定的布局进行显示。

13. 发明申请

US20140323148A1 WIDE AREA LOCALIZATION FROM SLAM MAPS 审中-公开
标题翻译：从SLAM MAPS的广域局部化
公开(公告)号：US20140323148A1
公开(公告)日：2014-10-30
申请号：US14139856
申请日：2013-12-23
申请人： QUALCOMM Incorporated
发明人： Dieter Schmalstieg , Clemens Arth , Johnathan Ventura , Christian Pirchheim , Gerhard Reitmayr
IPC分类号： H04W4/04 , G01V3/38
CPC分类号： H04W4/029 , G01C21/005 , G01V3/38
摘要： Exemplary methods, apparatuses, and systems for performing wide area localization from simultaneous localization and mapping (SLAM) maps are disclosed. A mobile device can select a first keyframe based SLAM map of the local environment with one or more received images. A respective localization of the mobile device within the local environment can be determined, and the respective localization may be based on the keyframe based SLAM map. The mobile device can send the first keyframe to a server and receive a first global localization response representing a correction to a local map on the mobile device. The first global localization response can include rotation, translation, and scale information. A server can receive keyframes from a mobile device, and localize the keyframes within a server map by matching keyframe features received from the mobile device to server map features.
摘要翻译：公开了用于从同时定位和映射（SLAM）映射执行广域定位的示例性方法，装置和系统。移动设备可以使用一个或多个接收到的图像来选择本地环境的基于关键帧的第一基于SLAM映射。可以确定移动设备在本地环境中的相应定位，并且相应的定位可以基于基于关键帧的SLAM映射。移动设备可以将第一关键帧发送到服务器并且接收表示对移动设备上的本地地图的校正的第一全局定位响应。第一个全球本地化响应可以包括旋转，翻译和缩放信息。服务器可以从移动设备接收关键帧，并通过将从移动设备接收到的关键帧功能与服务器映射功能进行匹配来本地化服务器映射中的关键帧。

14. 发明授权

US11321905B2 Error concealment in split rendering 有权
公开(公告)号：US11321905B2
公开(公告)日：2022-05-03
申请号：US17037566
申请日：2020-09-29
申请人： QUALCOMM Incorporated
发明人： Mina Ayman Saleh Yanni Makar , Soumyajit Bijankumar Deb , Bojan Vrcelj , Arjun Sitaram , Dieter Schmalstieg
IPC分类号： G06T15/00 , G06T9/00
摘要： Graphics processing in a client device includes receiving, as part of a vector streaming split rendering process, a bit stream encoding a sequence of shading atlases of the process. Each shading atlas includes blocks. The client decodes a particular shading atlas of the sequence of shading atlases, and determines that a particular block of the particular shading atlas was unsuccessfully decoded. The client identifies a stored block of a prior shading atlas of the sequence of shading atlases as a successfully decoded earlier version of the particular block. The client renders the particular shading atlas using the stored block instead of the particular block.

15. 发明授权

US10796458B2 Compression of point clouds via a novel hybrid coder 有权
公开(公告)号：US10796458B2
公开(公告)日：2020-10-06
申请号：US15959359
申请日：2018-04-23
申请人： QUALCOMM Incorporated
发明人： Vinay Melkote Krishnaprasad , Ajit Venkat Rao , Bojan Vrcelj , Dieter Schmalstieg
IPC分类号： G06T9/00 , G06T9/40 , G06T17/00 , H04N19/94 , H04N19/597
摘要： Aspects of the present disclosure provide a method for compressing a point cloud. The method includes determining a sub-division technique for the volume based on one or more numbers derived from a distribution of points in the volume, dividing the volume into a number of sub-volumes according to the sub-division technique, and determining whether each sub-volume of the sub-volumes is occupied by at least one point. The method includes generating a bit sequence for the volume comprising a control code that is based on the sub-division technique and an occupancy indicator that indicates whether or not each sub-volume is occupied by at least one point.

16. 发明申请

US20150262029A1 SENSOR-BASED CAMERA MOTION DETECTION FOR UNCONSTRAINED SLAM 有权
标题翻译：基于传感器的摄像机运动检测用于不受限制的SLAM
公开(公告)号：US20150262029A1
公开(公告)日：2015-09-17
申请号：US14645675
申请日：2015-03-12
申请人： QUALCOMM Incorporated
发明人： Christian Pirchheim , Clemens Arth , Dieter Schmalstieg
IPC分类号： G06K9/52 , G06T17/00 , G06T7/20 , G06K9/00 , G06T3/00
CPC分类号： G06K9/52 , G06K9/00624 , G06T3/00 , G06T7/20 , G06T7/70 , G06T17/00 , G06T2207/10016 , G06T2207/30244
摘要： Techniques are presented for monocular visual simultaneous localization and mapping (SLAM) based on detecting a translational motion in the movement of the camera using at least one motion sensor, while the camera is performing panoramic SLAM, and initializing a three dimensional map for tracking of finite features. Motion sensors may include one or more sensors, including inertial (gyroscope, accelerometer), magnetic (compass), vision (camera) or any other sensors built into mobile devices.
摘要翻译：针对单目视觉同步定位和映射（SLAM）提出了基于使用至少一个运动传感器检测相机运动中的平移运动的技术，而相机正在执行全景SLAM，以及初始化用于跟踪有限的三维图特征。运动传感器可以包括一个或多个传感器，包括惯性（陀螺仪，加速度计），磁（罗盘），视觉（摄像机）或内置于移动设备中的任何其他传感器。

17. 发明授权

US09031283B2 Sensor-aided wide-area localization on mobile devices 有权
标题翻译：传感器辅助广域定位在移动设备上
公开(公告)号：US09031283B2
公开(公告)日：2015-05-12
申请号：US13719012
申请日：2012-12-18
申请人： QUALCOMM Incorporated
发明人： Clemens Arth , Alessandro Mulloni , Gerhard Reitmayr , Dieter Schmalstieg
IPC分类号： G06K9/00 , G06T7/00 , H04N5/232
CPC分类号： G06K9/00671 , G06T7/75 , G06T7/80 , G06T2207/10016 , G06T2207/30244 , H04N5/23238
摘要： A mobile device uses vision and orientation sensor data jointly for six degree of freedom localization, e.g., in wide-area environments. An image or video stream is captured while receiving geographic orientation data and may be used to generate a panoramic cylindrical map of an environment. A bin of model features stored in a database is accessed based on the geographic orientation data. The model features are from a pre-generated reconstruction of the environment produced from extracted features from a plurality of images of the environment. The reconstruction is registered to a global orientation and the model features are stored in bins based on similar geographic orientations. Features from the panoramic cylindrical map are matched to model features in the bin to produce a set of corresponding features, which are used to determine a position and an orientation of the camera.
摘要翻译：移动设备使用视觉和姿态传感器数据联合进行六自由度定位，例如在广域环境中。捕获图像或视频流，同时接收地理取向数据，并且可以用于生成环境的全景圆柱图。基于地理位置数据访问存储在数据库中的模型特征的一个bin。模型特征来自从环境的多个图像的提取特征产生的环境的预先生成的重建。重建被注册到全局方向，并且基于类似的地理位置将模型特征存储在箱中。全景圆柱形地图的特征与仓中的模型特征相匹配，以产生一组相应的特征，用于确定相机的位置和方向。

18. 发明申请

US20150070387A1 STRUCTURAL MODELING USING DEPTH SENSORS 有权
标题翻译：使用深度传感器的结构建模
公开(公告)号：US20150070387A1
公开(公告)日：2015-03-12
申请号：US14250544
申请日：2014-04-11
申请人： QUALCOMM Incorporated
发明人： Dieter Schmalstieg , Gerhard Reitmayr , Thanh Quoc Nguyen , Raphael David Andre Grasset , Tobias Martin Langlotz , Hartmut Seichter
IPC分类号： G06T19/00
CPC分类号： G06T19/006 , G06T7/12 , G06T17/00 , G06T2207/10028 , G06T2207/20096 , G06T2207/20101 , H04N13/00
摘要： Techniques are presented for constructing a digital representation of a physical environment. In some embodiments, a method includes obtaining image data indicative of the physical environment; receiving gesture input data from a user corresponding to at least one location in the physical environment, based on the obtained image data; detecting at least one discontinuity in the physical environment near the at least one location corresponding to the received gesture input data; and generating a digital surface corresponding to a surface in the physical environment, based on the received gesture input data and the at least one discontinuity.
摘要翻译：提出了构建物理环境的数字表示的技术。在一些实施例中，一种方法包括获得指示物理环境的图像数据; 基于所获得的图像数据，从与所述物理环境中的至少一个位置对应的用户接收手势输入数据; 检测与所接收的手势输入数据相对应的至少一个位置附近的物理环境中的至少一个不连续性; 以及基于所接收的手势输入数据和所述至少一个不连续性，生成对应于所述物理环境中的表面的数字表面。

19. 发明申请

US20140016821A1 SENSOR-AIDED WIDE-AREA LOCALIZATION ON MOBILE DEVICES 有权
标题翻译：传感器辅助移动设备上的宽域定位
公开(公告)号：US20140016821A1
公开(公告)日：2014-01-16
申请号：US13719012
申请日：2012-12-18
申请人： QUALCOMM INCORPORATED
发明人： Clemens Arth , Alessandro Mulloni , Gerhard Reitmayr , Dieter Schmalstieg
IPC分类号： G06K9/00
CPC分类号： G06K9/00671 , G06T7/75 , G06T7/80 , G06T2207/10016 , G06T2207/30244 , H04N5/23238
摘要： A mobile device uses vision and orientation sensor data jointly for six degree of freedom localization, e.g., in wide-area environments. An image or video stream is captured while receiving geographic orientation data and may be used to generate a panoramic cylindrical map of an environment. A bin of model features stored in a database is accessed based on the geographic orientation data. The model features are from a pre-generated reconstruction of the environment produced from extracted features from a plurality of images of the environment. The reconstruction is registered to a global orientation and the model features are stored in bins based on similar geographic orientations. Features from the panoramic cylindrical map are matched to model features in the bin to produce a set of corresponding features, which are used to determine a position and an orientation of the camera.
摘要翻译：移动设备使用视觉和姿态传感器数据联合进行六自由度定位，例如在广域环境中。捕获图像或视频流，同时接收地理取向数据，并且可以用于生成环境的全景圆柱图。基于地理位置数据访问存储在数据库中的模型特征的一个bin。模型特征来自从环境的多个图像的提取特征产生的环境的预先生成的重建。重建被注册到全局方向，并且基于类似的地理位置将模型特征存储在箱中。全景圆柱形地图的特征与仓中的模型特征相匹配，以产生一组相应的特征，用于确定相机的位置和方向。

20. 发明授权

US11380047B2 Methods and apparatus for order-independent occlusion computations 有权
公开(公告)号：US11380047B2
公开(公告)日：2022-07-05
申请号：US16894643
申请日：2020-06-05
申请人： QUALCOMM Incorporated
发明人： Philip Voglreiter , Dieter Schmalstieg , Markus Steinberger
IPC分类号： G06T15/40 , G06T15/00 , G06T15/20
摘要： The present disclosure relates to methods and apparatus for graphics processing. The apparatus can determine geometry information for each of a plurality of primitives associated with a viewpoint in a scene. The apparatus can also calculate at least one of surface information and disocclusion information based on the geometry information for each of the plurality of primitives, where the surface information and the disocclusion information may be associated with a volumetric grid based on a viewing area corresponding to the viewpoint. Also, the apparatus can calculate visibility information for each of the plurality of primitives based on at least one of the surface information and the disocclusion information, where the visibility information may be associated with the volumetric grid. The apparatus can also determine whether each of the plurality of primitives is visible based on the visibility information for each of the plurality of primitives.

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