Patents by Inventor Kalin Mitkov Atanassov

Kalin Mitkov Atanassov has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20210279444
    Abstract: An electronic imaging device and method for image capture are described. The imaging device includes a camera configured to obtain image information of a scene and that may be focused on a region of interest in the scene. The imaging device also includes a LIDAR unit configured to obtain depth information of at least a portion of the scene at specified scan locations of the scene. The imaging device is configured to detect an object in the scene and provides specified scan locations to the LIDAR unit. The camera is configured to capture an image with an adjusted focus based on depth information, obtained by the LIDAR unit, associated with the detected object.
    Type: Application
    Filed: May 21, 2021
    Publication date: September 9, 2021
    Inventors: Albrecht Johannes Lindner, Volodimir Slobodyanyuk, Stephen Michael Verrall, Kalin Mitkov Atanassov
  • Publication number: 20210264625
    Abstract: Techniques and systems are provided for generating one or more depth maps. For example, a process can include transmitting a pattern of light using a structured light source, the pattern of light including at least a first sub-pattern group of a primitive pattern and a second sub-pattern group of the primitive pattern. The process can include generating an overlapped pattern of light, the overlapped pattern of light including at least the first sub-pattern group of the primitive pattern overlapped with the second sub-pattern group of the primitive pattern. The process can include receiving one or more return signals based on the overlapped pattern of light. The process can include generating a depth map based on the one or more return signals.
    Type: Application
    Filed: October 23, 2020
    Publication date: August 26, 2021
    Inventors: Kalin Mitkov ATANASSOV, James Wilson NASH, Stephen Michael VERRALL
  • Patent number: 11057608
    Abstract: Techniques are disclosed for depth map generation in a structured light system where an optical transmitter is tilted relative to an optical receiver. The optical transmitter has a transmitter optical axis around which structured light spreads, and the optical receiver has a receiver optical axis around which a reflection of the structured light can be captured. The transmitter optical axis and the receiver optical axis intersect one another. A processing circuit compensates for the angle in the tilt in the reflected pattern to generate the depth map.
    Type: Grant
    Filed: May 5, 2016
    Date of Patent: July 6, 2021
    Assignee: QUALCOMM Incorporated
    Inventors: James Wilson Nash, Kalin Mitkov Atanassov
  • Publication number: 20210201519
    Abstract: Aspects of the present disclosure relate to systems and methods for active depth sensing. An example apparatus configured to perform active depth sensing includes a projector. The projector is configured to emit a first distribution of light during a first time and emit a second distribution of light different from the first distribution of light during a second time. A set of final depth values of one or more objects in a scene is based on one or more reflections of the first distribution of light and one or more reflections of the second distribution of light. The projector may include a laser array, and the apparatus may be configured to switch between a first plurality of lasers of the laser array to emit light during the first time and a second plurality of laser to emit light during the second time.
    Type: Application
    Filed: June 4, 2020
    Publication date: July 1, 2021
    Inventors: James Wilson NASH, Kalin Mitkov Atanassov, Ioannis Nousias, Mark Ian Roy Muir, Sami Khawam
  • Patent number: 11042723
    Abstract: A method and electronic device for selectively obtaining depth information at locations within a scene are described. Image content analysis is performed on a received image of the scene. Locations within the image to obtain depth information within the scene are determined based on the image analysis. The locations are provided to a LIDAR (light+radar) unit to selectively obtain depth information at the scene locations. The depth information is received from the LIDAR unit and a second image analysis is performed on a second image. The second image analysis is based on the image content of the second image and the received depth information. Updated locations based on the second image analysis may be provided to the LIDAR unit to obtain updated depth information.
    Type: Grant
    Filed: March 20, 2019
    Date of Patent: June 22, 2021
    Assignee: QUALCOMM Incorporated
    Inventors: Albrecht Johannes Lindner, Volodimir Slobodyanyuk, Stephen Michael Verrall, Kalin Mitkov Atanassov
  • Patent number: 10922829
    Abstract: A device for image processing includes an optical receiver configured to receive a reflection of a coded pattern from an object to generate an image, and processing circuitry. The processing circuitry is configured to determine an estimated position of zero order light in the image, determine a spatial region of the coded pattern that corresponds to a position of the zero order light in the coded pattern, map the spatial region to the estimated position of the zero order light in the image to generate a corrected image, and generate a depth map for the coded pattern based on the corrected image.
    Type: Grant
    Filed: May 9, 2019
    Date of Patent: February 16, 2021
    Assignee: QUALCOMM Incorporated
    Inventors: James Wilson Nash, Kalin Mitkov Atanassov, Shandon Campbell
  • Patent number: 10914823
    Abstract: Aspects of the present disclosure relate to systems and methods for time-of-flight ranging. An example time-of-flight system includes a transmitter including a plurality of light emitters for transmitting focused light, the plurality of light emitters including a first group of light emitters for transmitting focused light with a first field of transmission and a second group of light emitters for transmitting focused light with a second field of transmission. The first field of transmission at a depth from the transmitter is larger than the second field of transmission at the depth from the transmitter. The time-of-flight system also includes a receiver to receive reflections of the transmitted light.
    Type: Grant
    Filed: May 1, 2018
    Date of Patent: February 9, 2021
    Assignee: QUALCOMM Incorporated
    Inventors: James Wilson Nash, Kalin Mitkov Atanassov, Stephen Michael Verrall
  • Patent number: 10735698
    Abstract: Aspects of the present disclosure relate to systems and methods for determining a resampler for resampling or converting non-Bayer patter color filter array image data to Bayer pattern image data. An example device may include a camera having an image sensor with a non-Bayer pattern color filter array configured to capture non-Bayer pattern image data for an image. The example device also may include a memory and a processor coupled to the memory. The processor may be configured to receive the non-Bayer pattern image data from the image sensor, divide the non-Bayer pattern image data into portions, determine a sampling filter corresponding to the portions, and determine, based on the determined sampling filter, a resampler for converting non-Bayer pattern image data to Bayer-pattern image data.
    Type: Grant
    Filed: December 28, 2018
    Date of Patent: August 4, 2020
    Assignee: QUALCOMM Incorporated
    Inventors: Hasib Ahmed Siddiqui, Kalin Mitkov Atanassov, Sergiu Radu Goma
  • Patent number: 10620316
    Abstract: Systems, methods, and devices for generating a depth map of a scene are provided. The method comprises projecting, onto the scene, a codeword pattern including a plurality of light points including a first set of light points projected at a first intensity and a second set of light points projected at a second intensity greater than the first intensity. The method further comprises detecting, from the scene, a reflection of the codeword pattern. The method further comprises generating a first depth map layer at a first resolution. The method further comprises generating a second depth map layer at a second resolution lower than the first resolution. The method further comprises generating the depth map of the scene, wherein the depth map includes depth information for the scene according to each of the first depth map layer and the second depth map layer.
    Type: Grant
    Filed: May 5, 2017
    Date of Patent: April 14, 2020
    Assignee: QUALCOMM Incorporated
    Inventors: Albrecht Johannes Lindner, Kalin Mitkov Atanassov, James Wilson Nash
  • Patent number: 10574947
    Abstract: Systems and methods for reconstructing an object boundary in a disparity map generated by a structured light system are disclosed. One aspect is a structured light system. The system includes an image projecting device configured to project codewords. The system further includes a receiver device including a sensor, the receiver device configured to sense the projected codewords reflected from an object. The system further includes a processing circuit configured to generate a disparity map of the object, detect a first boundary of the object in the disparity map, identify a shadow region in the disparity map adjoining the first boundary, the shadow region including pixels with codeword outages, and change a shape of the object in the disparity map based on the detected shadow region. The system further includes a memory device configured to store the disparity map.
    Type: Grant
    Filed: July 15, 2016
    Date of Patent: February 25, 2020
    Assignee: QUALCOMM Incorporated
    Inventors: Albrecht Johannes Lindner, Hasib Ahmed Siddiqui, Kalin Mitkov Atanassov
  • Patent number: 10565726
    Abstract: A device includes a first camera and a processor configured to detect one or more first keypoints within a first image captured by the first camera at a first time, detect one or more second keypoints within a second image captured by a second camera at the first time, and detect the one or more first keypoints within a third image captured by the first camera at a second time. The processor is configured to determine a pose estimation based on coordinates of the one or more first keypoints of the first image relative to a common coordinate system, coordinates of the one or more second keypoints of the second image relative to the common coordinate system, and coordinates of the one or more first keypoints of the third image relative to the common coordinate system. The first coordinate system is different than the common coordinate system.
    Type: Grant
    Filed: July 3, 2017
    Date of Patent: February 18, 2020
    Assignee: QUALCOMM Incorporated
    Inventors: Albrecht Johannes Lindner, Kalin Mitkov Atanassov, James Wilson Nash, Hasib Siddiqui
  • Publication number: 20190378286
    Abstract: A device for image processing includes an optical receiver configured to receive a reflection of a coded pattern from an object to generate an image, and processing circuitry. The processing circuitry is configured to determine an estimated position of zero order light in the image, determine a spatial region of the coded pattern that corresponds to a position of the zero order light in the coded pattern, map the spatial region to the estimated position of the zero order light in the image to generate a corrected image, and generate a depth map for the coded pattern based on the corrected image.
    Type: Application
    Filed: May 9, 2019
    Publication date: December 12, 2019
    Inventors: James Wilson Nash, Kalin Mitkov Atanassov, Shandon Campbell
  • Publication number: 20190339364
    Abstract: Aspects of the present disclosure relate to systems and methods for time-of-flight ranging. An example time-of-flight system includes a transmitter including a plurality of light emitters for transmitting focused light, the plurality of light emitters including a first group of light emitters for transmitting focused light with a first field of transmission and a second group of light emitters for transmitting focused light with a second field of transmission. The first field of transmission at a depth from the transmitter is larger than the second field of transmission at the depth from the transmitter. The time-of-flight system also includes a receiver to receive reflections of the transmitted light.
    Type: Application
    Filed: May 1, 2018
    Publication date: November 7, 2019
    Inventors: James Wilson Nash, Kalin Mitkov Atanassov, Stephen Michael Verrall
  • Publication number: 20190323827
    Abstract: Aspects of the present disclosure relate to systems and methods for structured light depth systems. An example active depth system may include a receiver to receive reflections of transmitted light and a transmitter including one or more light sources to transmit light in a spatial distribution. The spatial distribution of transmitted light may include a first region of a first plurality of light points and a second region of a second plurality of light points. A first density of the first plurality of light points is greater than a second density of the second plurality of light points when a first distance between a center of the spatial distribution and a center of the first region is less than a second distance between the center of the spatial distribution and the center of the second region.
    Type: Application
    Filed: April 20, 2018
    Publication date: October 24, 2019
    Inventors: Albrecht Johannes Lindner, Kalin Mitkov Atanassov, Stephen Michael Verrall
  • Patent number: 10419703
    Abstract: Aspects relate to a depth sensing system for capturing an image containing depth information of an object. In one embodiment, a depth sensing device for use in conjunction with multiple depth sensing devices for capturing an image containing depth information of an object comprises a near-infrared transmitter comprising a laser capable of producing a near infra-red light beam, a diffractive optical element positioned to receive a light beam emitted from the laser, the diffractive optical element, a collimating lens, and a near-infrared receiver coupled to the transmitter in a relative position, the receiver comprising a sensor assembly capable of producing an image of the received light, the depth sensing device being configured to transmit and receive near infra-red light beams during a time period that is different than any of the other of two or more transmitter-receiver pairs of devices in communication with the depth sensing device.
    Type: Grant
    Filed: January 16, 2015
    Date of Patent: September 17, 2019
    Assignee: QUALCOMM Incorporated
    Inventors: Sergiu Radu Goma, Kalin Mitkov Atanassov
  • Patent number: 10412362
    Abstract: Methods, systems, and apparatuses are provided to compensate for a misalignment of optical devices within an imaging system. For example, the methods receive image data captured by a first optical device having a first optical axis and a second optical device having a second optical axis. The methods also receive sensor data indicative of a deflection of a substrate that supports the first and second optical devices. The deflection can result from a misalignment of the first optical axis relative to the second optical axis. The methods generate a depth value based on the captured image data and the sensor data. The depth value can reflect a compensation for the misalignment of the first optical axis relative to the second optical axis.
    Type: Grant
    Filed: July 27, 2017
    Date of Patent: September 10, 2019
    Assignee: QUALCOMM Incorporated
    Inventors: Htet Naing, Kalin Mitkov Atanassov, Albrecht Johannes Lindner
  • Patent number: 10404969
    Abstract: Systems, apparatus, and methods for generating a fused depth map from one or more individual depth maps, wherein the fused depth map is configured to provide robust depth estimation for points within the depth map. The methods, apparatus, or systems may comprise components that identify a field of view (FOV) of an imaging device configured to capture an image of the FOV and select a first depth sensing method. The system or method may sense a depth of the FOV with respect to the imaging device using the first selected depth sensing method and generate a first depth map of the FOV based on the sensed depth of the first selected depth sensing method. The system or method may also identify a region of one or more points of the first depth map having one or more inaccurate depth measurements and determine if additional depth sensing is needed.
    Type: Grant
    Filed: January 20, 2015
    Date of Patent: September 3, 2019
    Assignee: QUALCOMM Incorporated
    Inventors: Albrecht Johannes Lindner, Kalin Mitkov Atanassov, Sergiu Radu Goma
  • Publication number: 20190236794
    Abstract: A method performed by an electronic device is described. The method includes obtaining a first image from a first camera, the first camera having a first focal length and a first field of view. The method also includes obtaining a second image from a second camera, the second camera having a second focal length and a second field of view disposed within the first field of view. The method further includes aligning at least a portion of the first image and at least a portion of the second image to produce aligned images. The method additionally includes fusing the aligned images based on a diffusion kernel to produce a fused image. The diffusion kernel indicates a threshold level over a gray level range. The method also includes outputting the fused image. The method may be performed for each of a plurality of frames of a video feed.
    Type: Application
    Filed: April 4, 2019
    Publication date: August 1, 2019
    Inventors: James Wilson Nash, Kalin Mitkov Atanassov, Sergiu Radu Goma
  • Patent number: 10368053
    Abstract: A receiver sensor captures a plurality of images, at two or more (different) exposure times, of a scene onto which a code mask is projected. The two or more of the plurality of images are combined by extracting decodable portions of the code mask from each image to generate a combined image. Alternatively, two receiver sensors, each at a different exposure time, are used to capture a plurality of images. The first and second images are then combined by extracting decodable portions of the code mask from each image to generate a combined image. Depth information for the scene may then be ascertained based on the combined image and using the code mask.
    Type: Grant
    Filed: December 21, 2012
    Date of Patent: July 30, 2019
    Assignee: QUALCOMM Incorporated
    Inventors: Judit Martinez Bauza, Kalin Mitkov Atanassov, Sergiu Radu Goma
  • Publication number: 20190220650
    Abstract: A method and electronic device for selectively obtaining depth information at locations within a scene are described. Image content analysis is performed on a received image of the scene. Locations within the image to obtain depth information within the scene are determined based on the image analysis. The locations are provided to a LIDAR (light+radar) unit to selectively obtain depth information at the scene locations. The depth information is received from the LIDAR unit and a second image analysis is performed on a second image. The second image analysis is based on the image content of the second image and the received depth information. Updated locations based on the second image analysis may be provided to the LIDAR unit to obtain updated depth information.
    Type: Application
    Filed: March 20, 2019
    Publication date: July 18, 2019
    Inventors: Albrecht Johannes LINDNER, Volodimir SLOBODYANYUK, Stephen Michael VERRALL, Kalin Mitkov ATANASSOV