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1. 发明授权

US10484697B2 Simultaneous localization and mapping for video coding 有权
公开(公告)号：US10484697B2
公开(公告)日：2019-11-19
申请号：US14845076
申请日：2015-09-03
申请人： QUALCOMM Incorporated
发明人： Phillip Grasmug , Dieter Schmalstieg , Gerhard Reitmayr
IPC分类号： H04N7/12 , H04N19/27
摘要： Video encoding and decoding techniques are described in which a predictive image s formed from texture mapping a composite image to a proxy geometry that provides an approximation of a three-dimensional structure of a current image or a previously encoded or decoded image. A residual between the predictive image and the current image is used to encode or decode the current image.

2. 发明申请

US20160179830A1 SCALABLE 3D MAPPING SYSTEM 审中-公开
标题翻译：可扩展3D映射系统
公开(公告)号：US20160179830A1
公开(公告)日：2016-06-23
申请号：US14862050
申请日：2015-09-22
申请人： QUALCOMM Incorporated
发明人： Dieter Schmalstieg , Clemens Arth , Christian Pirchheim
IPC分类号： G06F17/30
CPC分类号： G06F17/3087 , G06F17/30241 , G06F17/30268 , G06F17/30333 , G06F17/30592 , G06T17/05 , G06T19/20 , G06T2219/2004
摘要： Disclosed are a system, apparatus, and method for multiple client simultaneous localization and mapping. Tracking and mapping may be performed locally and independently by each of a plurality of clients. At configurable points in time map data may be sent to a server for stitching and fusion. In response to successful stitching and fusion to one or more maps known to the server, updated position and orientation information relative to the server's maps may be sent back to the clients. Clients may update their local map data with the received server location data. Clients may receive additional map data from the server, which can be used for extending their maps. Clients may send queries to the server for 3D maps, and the queries may include metadata.
摘要翻译：公开了一种用于多客户端同时定位和映射的系统，装置和方法。跟踪和映射可以由多个客户端中的每一个本地且独立地执行。在可配置的时间点地图数据可以发送到服务器进行缝合和融合。响应于针对服务器已知的一个或多个映射的成功的拼接和融合，相对于服务器的映射的更新的位置和取向信息可以被发送回客户端。客户端可以使用接收到的服务器位置数据来更新其本地地图数据。客户端可以从服务器接收附加的地图数据，可用于扩展其地图。客户端可以向服务器发送查询用于3D地图，并且查询可以包括元数据。

3. 发明申请

US20160073117A1 SIMULTANEOUS LOCALIZATION AND MAPPING FOR VIDEO CODING 审中-公开
标题翻译：用于视频编码的同时本地化和映射
公开(公告)号：US20160073117A1
公开(公告)日：2016-03-10
申请号：US14845076
申请日：2015-09-03
申请人： QUALCOMM Incorporated
发明人： Phillip Grasmug , Dieter Schmalstieg , Gerhard Reitmayr
IPC分类号： H04N19/27
CPC分类号： H04N19/27 , G06T9/001 , H04N19/23 , H04N19/30
摘要： Video encoding and decoding techniques are described in which a predictive image s formed from texture mapping a composite image to a proxy geometry that provides an approximation of a three-dimensional structure of a current image or a previously encoded or decoded image. A residual between the predictive image and the current image is used to encode or decode the current image.
摘要翻译：描述了视频编码和解码技术，其中通过纹理将合成图像映射到提供当前图像或先前编码或解码图像的三维结构的代理几何形状的预测图像。预测图像和当前图像之间的残差用于对当前图像进行编码或解码。

4. 发明申请

US20150371440A1 ZERO-BASELINE 3D MAP INITIALIZATION 审中-公开
公开(公告)号：US20150371440A1
公开(公告)日：2015-12-24
申请号：US14743990
申请日：2015-06-18
申请人： QUALCOMM Incorporated
发明人： Christian Pirchheim , Jonathan Ventura , Dieter Schmalstieg , Clemens Arth , Vincent Lepetit
IPC分类号： G06T17/05 , G06T7/00
CPC分类号： G06T17/05 , G06T7/33 , G06T7/73 , G06T2200/04 , G06T2207/30244
摘要： A computer-implemented method, apparatus, computer readable medium and mobile device for initializing a 3-Dimensional (3D) map may include obtaining, from a camera, a single image of an urban outdoor scene and estimating an initial pose of the camera. An untextured model of a geographic region may be obtained. Line features from the single image may be extracted and the orientation may be determined with respect to the untextured model and using the extracted line features, the orientation of the camera in 3 Degrees of Freedom (3DOF). In response to determining the orientation of the camera, a translation in 3DOF with respect to the untextured model may be determined using the extracted line features. The 3D map may be initialized based on the determined orientation and translation.
摘要翻译：用于初始化三维（3D）地图的计算机实现的方法，装置，计算机可读介质和移动装置可以包括从相机获取城市户外场景的单个图像并估计相机的初始姿态。可以获得地理区域的非纹理模型。可以提取来自单个图像的线特征，并且可以相对于未纹理模型确定取向，并且使用提取的线特征，相机在3自由度（3DOF）中的取向。响应于确定相机的取向，可以使用提取的线特征来确定相对于未纹理模型的3DOF中的平移。可以基于确定的取向和平移来初始化3D地图。

5. 发明申请

US20140320530A1 APPARATUS AND METHOD FOR RADIANCE TRANSFER SAMPLING FOR AUGMENTED REALITY 审中-公开
标题翻译：用于实现现实的辐射转移采样的装置和方法
公开(公告)号：US20140320530A1
公开(公告)日：2014-10-30
申请号：US14189838
申请日：2014-02-25
申请人： QUALCOMM Incorporated
发明人： Lukas GRUBER, JR. , Dieter Schmalstieg
IPC分类号： G06T19/00
CPC分类号： G06T19/006 , G06T15/06 , G06T15/50 , G06T15/506 , G06T15/55 , G06T15/60 , G06T15/80 , G06T2215/16
摘要： Methods, systems, computer-readable media, and apparatuses for radiance transfer sampling for augmented reality are presented. In some embodiments, a method includes receiving at least one video frame of an environment. The method further includes generating a surface reconstruction of the environment. The method additionally includes projecting a plurality of rays within the surface reconstruction of the environment. Upon projecting a plurality of rays within the surface reconstruction of the environment, the method includes generating illumination data of the environment from the at least one video frame. The method also includes determining a subset of rays from the plurality of rays in the environment based on areas within the environment needing refinement. The method further includes rendering the virtual object over the video frames based on the plurality of rays excluding the subset of rays.
摘要翻译：提出了用于增强现实的辐射转移采样的方法，系统，计算机可读介质和装置。在一些实施例中，一种方法包括接收环境的至少一个视频帧。该方法还包括产生环境的表面重构。该方法还包括在环境的表面重建中投影多条光线。当在环境的表面重建中投射多条光线时，该方法包括从至少一个视频帧产生环境的照明数据。该方法还包括基于需要细化的环境中的区域来确定来自环境中的多个射线的射线子集。该方法还包括基于除了射线子集之外的多个射线，将虚拟物体渲染在视频帧上。

6. 发明授权

US11132831B1 Methods and apparatus for efficient multi-view rasterization 有权
公开(公告)号：US11132831B1
公开(公告)日：2021-09-28
申请号：US16806774
申请日：2020-03-02
申请人： QUALCOMM Incorporated
发明人： Dieter Schmalstieg , Bernhard Kerbl , Philip Voglreiter
IPC分类号： G06T15/20 , G06T15/80
摘要： The present disclosure relates to methods and apparatus for graphics processing. Aspects of the present disclosure can determine at least one scene including one or more viewpoints. Also, aspects of the present disclosure can divide the at least one scene into a plurality of zones based on each of the one or more viewpoints. Further, aspects of the present disclosure can determine whether a zone based on one viewpoint of the one or more viewpoints is substantially similar to a zone based on another viewpoint of the one or more viewpoints. Aspects of the present disclosure can also generate a geometry buffer for each of the plurality of zones based on the one or more viewpoints. Moreover, aspects of the present disclosure can combine the geometry buffers for each of the plurality of zones based on the one or more viewpoints.

7. 发明授权

US11069128B2 Rendering an image from computer graphics using two rendering computing devices 有权
公开(公告)号：US11069128B2
公开(公告)日：2021-07-20
申请号：US16640705
申请日：2018-07-24
申请人： QUALCOMM Incorporated
发明人： Dieter Schmalstieg , Gerhard Reitmayr , Serafin Diaz Spindola
IPC分类号： G06T15/40 , G06T15/00 , G06T15/04 , G06T15/10 , G06T15/80 , G06T17/20 , G06T1/60 , A63F13/50
摘要： An example system includes a first computing device comprising a first graphics processing unit (GPU) implemented in circuitry, and a second computing device comprising a second GPU implemented in circuitry. The first GPU is configured to perform a first portion of an image rendering process to generate intermediate graphics data and send the intermediate graphics data to the second computing device. The second GPU is configured to perform a second portion of the image rendering process to render an image from the intermediate graphics data. The first computing device may be a video game console, and the second computing device may be a virtual reality (VR) headset that warps the rendered image to produce a stereoscopic image pair.

8. 发明授权

US10403032B2 Rendering an image from computer graphics using two rendering computing devices 有权
公开(公告)号：US10403032B2
公开(公告)日：2019-09-03
申请号：US15683613
申请日：2017-08-22
申请人： QUALCOMM Incorporated
发明人： Dieter Schmalstieg , Gerhard Reitmayr , Serafin Diaz Spindola
IPC分类号： G06T15/40 , G06T15/00 , G06T15/04 , G06T15/80 , G06T1/60 , G06T17/20 , A63F13/50 , G06T15/10
摘要： An example system includes a first computing device comprising a first graphics processing unit (GPU) implemented in circuitry, and a second computing device comprising a second GPU implemented in circuitry. The first GPU is configured to perform a first portion of an image rendering process to generate intermediate graphics data and send the intermediate graphics data to the second computing device. The second GPU is configured to perform a second portion of the image rendering process to render an image from the intermediate graphics data. The first computing device may be a video game console, and the second computing device may be a virtual reality (VR) headset that warps the rendered image to produce a stereoscopic image pair.

9. 发明授权

US09674507B2 Monocular visual SLAM with general and panorama camera movements 有权
公开(公告)号：US09674507B2
公开(公告)日：2017-06-06
申请号：US14151776
申请日：2014-01-09
申请人： QUALCOMM Incorporated
发明人： Christian Pirchheim , Dieter Schmalstieg , Gerhard Reitmayr
IPC分类号： H04N7/00 , H04N13/02 , H04N5/232 , G06T7/579
CPC分类号： H04N13/289 , G06T7/579 , H04N5/23238
摘要： Disclosed are a system, apparatus, and method for monocular visual simultaneous localization and mapping that handles general 6DOF and panorama camera movements. A 3D map of an environment containing features with finite or infinite depth observed in regular or panorama keyframes is received. The camera is tracked in 6DOF from finite, infinite, or mixed feature sets. Upon detection of a panorama camera movement towards unmapped scene regions, a reference panorama keyframe with infinite features is created and inserted into the 3D map. When panoramic camera movement extends toward unmapped scene regions, the reference keyframe is extended with further dependent panorama keyframes. Panorama keyframes are robustly localized in 6DOF with respect to finite 3D map features. Localized panorama keyframes contain 2D observations of infinite map features that are matched with 2D observations in other localized keyframes. 2D-2D correspondences are triangulated, resulting in new finite 3D map features.

10. 发明授权

US09390344B2 Sensor-based camera motion detection for unconstrained slam 有权
标题翻译：基于传感器的相机运动检测，无约束弹射
公开(公告)号：US09390344B2
公开(公告)日：2016-07-12
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： G06K9/00 , G06K9/52 , G06T3/00 , G06T7/20 , G06T17/00 , G06T7/00
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。

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