The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 30, 2022
Filed:
Mar. 25, 2020
Apple Inc., Cupertino, CA (US);
Chavdar Chavdarov Papazov, Sunnyvale, CA (US);
Lina Maria Paz-Perez, Santa Clara, CA (US);
Oliver Thomas Ruepp, Baierbrunn, DE;
APPLE INC., Cupertino, CA (US);
Abstract
In some implementations, a method includes: extracting key-points from a reference image associated with a scene; generating a multi-cone structure including cones based on the key-points and intrinsic parameters, wherein an apex of the cones corresponds to a camera origin point associated with the reference image, and wherein each axis of the cones intersects a respective key-point; aligning the multi-cone structure based on a nominal alignment vector in order to restrict two rotational degrees of freedom; and determining a rigid transformation for the multi-cone structure, including a value for a remaining rotational degree of freedom and values for three translational degrees of freedom, within a search space associated with the scene, wherein a number of the cones within the multi-cone structure that include at least one point in a three-dimensional (3D) point cloud associated with the scene is maximal when the multi-cone structure is transformed by the rigid transformation.