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1. 发明申请

WO2015127246A1 VIEW INDEPENDENT 3D SCENE TEXTURING 审中-公开
标题翻译：查看独立的3D场景纹理
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
申请人： QUALCOMM INCORPORATED
发明人： KNOBLAUCH, Daniel , MULLONI, Alessandro , WAGNER, Daniel
IPC分类号： G06T11/00 , G06T15/04
CPC分类号： G06T15/04 , G06T5/003 , G06T11/001 , G06T17/10 , G06T17/205 , G06T2200/04 , G06T2200/28 , G06T2210/61
摘要： 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.
摘要翻译：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。

2. 发明申请

WO2016037129A1 METHOD AND APPARATUS FOR EFFICIENT DEPTH IMAGE TRANSFORMATION 审中-公开
标题翻译：有效深度图像变换的方法和装置
公开(公告)号：WO2016037129A1
公开(公告)日：2016-03-10
申请号：PCT/US2015/048678
申请日：2015-09-04
申请人： QUALCOMM INCORPORATED
发明人： WAGNER, Daniel , MULLONI, Alessandro
IPC分类号： G06T5/00 , G06T5/50 , G06T7/00
CPC分类号： H04N13/128 , G06T5/006 , G06T5/50 , G06T7/55 , G06T2207/10024 , G06T2207/10028 , H04N13/111 , H04N13/239 , H04N13/257
摘要： Disclosed are a system, apparatus, and method for depth camera image re-mapping. A depth camera image from a depth camera may be received and a depth camera's physical position may be determined. The depth camera's physical position may be determined relative to an other physical position, such as the physical position of a color camera. The depth camera image may be transformed according to a processing order associated with the other physical position.
摘要翻译：公开了一种用于深度相机图像重新映射的系统，装置和方法。可以接收来自深度相机的深度相机图像，并且可以确定深度相机的物理位置。深度相机的物理位置可以相对于其它物理位置来确定，例如彩色照相机的物理位置。可以根据与另一物理位置相关联的处理顺序来变换深度相机图像。

3. 发明申请

WO2014179745A1 METHODS FOR FACILITATING COMPUTER VISION APPLICATION INITIALIZATION 审中-公开
标题翻译：促进计算机视觉应用初始化的方法
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
申请人： QUALCOMM INCORPORATED
发明人： MULLONI, Alessandro , REITMAYR, Gerhard , RAMACHANDRAN, Mahesh , WAGNER, Daniel
IPC分类号： G06T7/00 , G01C25/00
CPC分类号： H04N5/23296 , G01C25/005 , G06T7/73 , G06T7/80 , G06T2207/20092 , H04N5/23203
摘要： 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.
摘要翻译：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。

4. 发明申请

WO2014120613A1 REAL-TIME 3D RECONSTRUCTION WITH POWER EFFICIENT DEPTH SENSOR USAGE 审中-公开
标题翻译：实时3D重建与功率有效的深度传感器使用
公开(公告)号：WO2014120613A1
公开(公告)日：2014-08-07
申请号：PCT/US2014/013211
申请日：2014-01-27
申请人： QUALCOMM INCORPORATED
发明人： WAGNER, Daniel , MULLONI, Alessandro
IPC分类号： G06T17/00
CPC分类号： G06T17/00 , G06T2200/08 , H04N13/204 , H04N13/254 , H04N13/271
摘要： Embodiments disclosed facilitate resource utilization efficiencies in Mobile Stations (MS) during 3D reconstruction. In some embodiments, camera pose information for a first color image captured by a camera on an MS may be obtained and a determination may be made whether to extend or update a first 3-Dimensional (3D) model of an environment being modeled by the MS based, in part, on the first color image and associated camera pose information. The depth sensor, which provides depth information for images captured by the camera, may be disabled, when the first 3D model is not extended or updated.
摘要翻译：所公开的实施例在3D重建期间促进移动台（MS）中的资源利用效率。在一些实施例中，可以获得由相机在MS上拍摄的第一彩色图像的相机姿态信息，并且可以确定是否扩展或更新由MS建模的环境的第一维三维（3D）模型部分地基于第一彩色图像和相关联的摄像机姿态信息。当第一3D模型不被扩展或更新时，可以禁用深度传感器，其为摄像机拍摄的图像提供深度信息。

5. 发明申请

WO2014070483A1 FAST INITIALIZATION FOR MONOCULAR VISUAL SLAM 审中-公开
标题翻译：单视觉SLAM的快速初始化
公开(公告)号：WO2014070483A1
公开(公告)日：2014-05-08
申请号：PCT/US2013/065654
申请日：2013-10-18
申请人： QUALCOMM INCORPORATED
发明人： REITMAYR, Gerhard , MULLONI, Alessandro
IPC分类号： G06T7/00
CPC分类号： G06K9/00201 , G06T7/12 , G06T7/73 , G06T2207/10016
摘要： Apparatuses and methods for fast visual simultaneous localization and mapping are described. In one embodiment, a three-dimensional (3D) target is initialized immediately from a first reference image and prior to processing a subsequent image. In one embodiment, one or more subsequent reference images are processed, and the 3D target is tracked in six degrees of freedom. In one embodiment, the 3D target is refined based on the processed the one or more subsequent images.
摘要翻译：描述了用于快速视觉同时定位和映射的装置和方法。在一个实施例中，三维（3D）目标被立即从第一参考图像初始化并且在处理随后的图像之前被初始化。在一个实施例中，处理一个或多个后续参考图像，并且以六个自由度跟踪3D目标。在一个实施例中，基于处理了一个或多个后续图像来改进3D目标。

6. 发明申请

WO2014070312A2 REFERENCE COORDINATE SYSTEM DETERMINATION 审中-公开
标题翻译：参考坐标系统确定
公开(公告)号：WO2014070312A2
公开(公告)日：2014-05-08
申请号：PCT/US2013/059148
申请日：2013-09-11
申请人： QUALCOMM INCORPORATED
发明人： GUPTA, Prince , WAGNER, Daniel , REITMAYR, Gerhard , MULLONI, Alessandro
IPC分类号： G06T7/00 , G06T19/00
CPC分类号： G06T7/004 , G01B11/002 , G06T7/70 , G06T19/006 , G06T2207/10028
摘要： A method of determining a reference coordinate system includes: obtaining information indicative of a direction of gravity relative to a device; and converting an orientation of a device coordinate system using the direction of gravity relative to the device to produce the reference coordinate system. The method may also include setting an origin of the reference coordinate system and/or determining a scale value of the reference coordinate system. The method may also include refining the reference coordinate system.
摘要翻译：确定参考坐标系的方法包括：获得指示相对于设备的重力方向的信息; 以及使用相对于所述装置的重力方向来转换装置坐标系的方向以产生所述参考坐标系。该方法还可以包括设置参考坐标系的原点和/或确定参考坐标系的比例值。该方法还可以包括改进参考坐标系。

7. 发明申请

WO2014011346A1 SENSOR-AIDED WIDE-AREA LOCALIZATION ON MOBILE DEVICES 审中-公开
标题翻译：传感器辅助移动设备上的宽域定位
公开(公告)号：WO2014011346A1
公开(公告)日：2014-01-16
申请号：PCT/US2013/045468
申请日：2013-06-12
申请人： QUALCOMM INCORPORATED
发明人： ARTH, Clemens , MULLONI, Alessandro , REITMAYR, Gerhard , SCHMALSTIEG, Dieter
IPC分类号： G06T17/05 , G06T7/00 , H04N5/32
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。

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