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1. 发明申请

US20150163477A1 SYSTEMS AND METHODS FOR CALCULATING EPIPOLAR CONSTRAINTS BETWEEN GENERALIZED CAMERAS 审中-公开
标题翻译：一般摄像机计算不确定因素的系统与方法
公开(公告)号：US20150163477A1
公开(公告)日：2015-06-11
申请号：US13372559
申请日：2012-02-14
申请人： Bryan Klingner , David Martin , Scott Ettinger
发明人： Bryan Klingner , David Martin , Scott Ettinger
IPC分类号： H04N13/02 , H04N5/353 , G06T15/20
CPC分类号： G06T7/593
摘要： Methods and systems for calculating epipolar constraints between a plurality of generalized cameras are provided. Each generalized camera implements two pixel projection functions. One function converts a known pixel location into a ray emanating from a projection center of a first camera to a point on a feature at the pixel location. Another function converts a three dimensional point on the feature in Euclidean space to a pixel location on a projection of the feature in the image space of a second camera. Subsegments of along the ray are projected onto the image space of the second camera and are subdivided until each subsegment spans no more than one pixel in the second camera's image space. The endpoints of all subsegments are projected into the image space of the second camera and the discrete pixel locations of each subsegment are recorded to form epipolar zones.
摘要翻译：提供了用于计算多个广义照相机之间的对极约束的方法和系统。每个广义摄像机实现两个像素投影功能。一个功能将已知像素位置转换成从第一相机的投影中心发射到在像素位置处的特征上的点的光线。另一个函数将欧氏空间中的特征上的三维点转换成第二相机的图像空间中的特征的投影上的像素位置。沿着光线的子段被投影到第二照相机的图像空间上，并被细分，直到每个子段跨越第二相机的图像空间中不超过一个像素。所有子段的端点投影到第二相机的图像空间中，并且记录每个子段的离散像素位置以形成对极区。

2. 发明授权

US08786707B1 Pattern-free camera calibration for mobile devices with accelerometers 有权
标题翻译：带加速度计的移动设备的无模式相机校准
公开(公告)号：US08786707B1
公开(公告)日：2014-07-22
申请号：US13423918
申请日：2012-03-19
申请人： Scott Ettinger
发明人： Scott Ettinger
IPC分类号： H04N17/00 , H04N17/02 , H04N5/228
CPC分类号： H04N17/002
摘要： A method for generating values for one or more camera calibration parameters is described. The camera calibration parameters may include focal length, lens distortion, and optical center of the lens. A plurality of photographs are captured from a camera on a device which includes an accelerometer. Common features are determined between the captured photographs. Accelerometer data is analyzed for each captured photograph. The values for the camera calibration parameters are generated based on the common features and the accelerometer data and stored for future use with various applications.
摘要翻译：描述了一种用于生成一个或多个相机校准参数的值的方法。相机校准参数可能包括镜头的焦距，镜头失真和光学中心。在包括加速度计的设备上从照相机拍摄多张照片。捕获的照片之间确定常见的功能。对每张拍摄的照片分析加速度计数据。相机校准参数的值基于公共特征和加速度计数据生成，并存储以供将来用于各种应用。

3. 发明授权

US08548738B1 Constructing paths based on a particle model 有权
标题翻译：基于粒子模型构建路径
公开(公告)号：US08548738B1
公开(公告)日：2013-10-01
申请号：US13179147
申请日：2011-07-08
申请人： Mohammed Waleed Kadous , Andrew Lookingbill , Sebastian Thrun , Scott Ettinger
发明人： Mohammed Waleed Kadous , Andrew Lookingbill , Sebastian Thrun , Scott Ettinger
IPC分类号： G01C21/30 , G01C21/32
CPC分类号： G01C21/206
摘要： Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More specifically, aspects relate to using a particle filter in conjunction with one or more orientation devices to identify a location of a client device with respect to a map of an indoor space. This location may then be used to identify the path of the client device through the indoor space.
摘要翻译：本公开的方面通常涉及室内定位，例如，其中GPS或其他定位信号不可用的地方。更具体地，方面涉及使用粒子滤波器结合一个或多个取向装置来识别客户端装置相对于室内空间的映射的位置。然后，该位置可以用于通过室内空间来识别客户端设备的路径。

4. 发明申请

US20080002606A1 Identification of wireless devices based on signal characteristics 审中-公开
标题翻译：基于信号特征识别无线设备
公开(公告)号：US20080002606A1
公开(公告)日：2008-01-03
申请号：US11479104
申请日：2006-06-30
申请人： David Cheung , David Bormann , Scott Ettinger
发明人： David Cheung , David Bormann , Scott Ettinger
IPC分类号： H04Q7/00
CPC分类号： H04W24/00 , H04W88/02
摘要： A method and apparatus for identification of wireless devices based on signal characteristics. An embodiment of a method includes receiving a signal from a wireless device and generating a spectrogram of the received signal. The method further provides for identifying one or more regions of the spectrogram and processing the spectrogram to determine time, bandwidth, and density characteristics of the identified regions.
摘要翻译：一种基于信号特征识别无线设备的方法和装置。一种方法的实施例包括从无线设备接收信号并产生接收信号的频谱图。该方法还提供用于识别光谱图的一个或多个区域并处理光谱图以确定所识别区域的时间，带宽和密度特性。

5. 发明申请

US20150153180A1 MAP PROCESSING FOR INDOOR NAVIGATION GUIDANCE 有权
标题翻译：室内导航指导的地图处理
公开(公告)号：US20150153180A1
公开(公告)日：2015-06-04
申请号：US13188798
申请日：2011-07-22
申请人： Scott Ettinger , Ehud Rivlin
发明人： Scott Ettinger , Ehud Rivlin
IPC分类号： G01C21/20 , G01C21/00
CPC分类号： G01C21/206
摘要： Directions are provided to a location in an indoor space in response to receiving a request from a mobile device. First, a map of the indoor space is processed to identify navigable areas in the indoor space. A distance transform is then executed on the map as part of a process to generate a directed graph. The directed graph includes nodes that correspond to points in the indoor space and paths that correspond to routes between the nodes. Next, a navigation table is generated based on the directed graph to identify a shortest route from each node to at least one other node. In response to a request for directions to a location in the indoor space, the navigation table is accessed to identify a route to the requested location. The identified route is then provided to a mobile device such that an end user may navigate to the location.
摘要翻译：响应于接收到来自移动设备的请求，将指示提供给室内空间中的位置。首先，处理室内空间的地图，以识别室内空间中的可导航区域。然后在地图上执行距离变换，作为生成有向图的过程的一部分。有向图包括对应于室内空间中的点的节点和对应于节点之间的路线的路径。接下来，基于有向图生成导航表，以识别从每个节点到至少一个其他节点的最短路由。响应于向室内空间中的位置的指示的请求，访问导航表以识别到所请求的位置的路线。然后将所识别的路由提供给移动设备，使得最终用户可以导航到该位置。

6. 发明授权

US08538442B1 Indoor localization of mobile device using labels 有权
标题翻译：使用标签的移动设备的室内本地化
公开(公告)号：US08538442B1
公开(公告)日：2013-09-17
申请号：US13160716
申请日：2011-06-15
申请人： Scott Ettinger , Mohammed Waleed Kadous , Andrew Lookingbill
发明人： Scott Ettinger , Mohammed Waleed Kadous , Andrew Lookingbill
IPC分类号： H04W40/00
CPC分类号： H04W40/244 , G01S5/0278
摘要： To localize a mobile device in an indoor area, labels are positioned at locations throughout the indoor area and signal strength is recorded at the label positions from different wireless network access points that are available in the indoor area. As a user traverses the indoor area with the mobile device, individual label identifiers are entered into the mobile device and the strength of the wireless network signals is recorded at each label position. The sampled wireless network signal strength and the corresponding label identifiers and positions are recorded to generate a mapping that identifies wireless network signal strength at each of the different label positions in the indoor area. The mapping may then be accessed to identify the locations of other mobile device users that subsequently enter the indoor area based on the wireless network signal strength from the different access points detected by the other mobile devices.
摘要翻译：为了将移动设备本地化在室内区域中，标签位于室内区域的位置处，并且信号强度被记录在室内区域中可用的不同无线网络接入点的标签位置处。当用户通过移动设备遍历室内区域时，将各个标签标识符输入到移动设备中，并且在每个标签位置记录无线网络信号的强度。记录采样的无线网络信号强度和对应的标签标识符和位置，以产生识别室内区域中每个不同标签位置处的无线网络信号强度的映射。然后可以访问映射，以便基于来自其他移动设备检测到的不同接入点的无线网络信号强度来识别随后进入室内区域的其他移动设备用户的位置。

7. 发明授权

US08412183B1 Automatically constructing paths 有权
标题翻译：自动构建路径
公开(公告)号：US08412183B1
公开(公告)日：2013-04-02
申请号：US13108127
申请日：2011-05-16
申请人： Mohammed Waleed Kadous , Andrew Lookingbill , Scott Ettinger
发明人： Mohammed Waleed Kadous , Andrew Lookingbill , Scott Ettinger
IPC分类号： H04W24/00
CPC分类号： G01C21/206
摘要： Aspects of the present disclosure relate generally to generating reliable data for indoor navigation. More specifically, aspects relate to identifying a route for a person to follow in order to record data such wireless network access location or other beacon signal information and signal strengths for an indoor space. In one example, the pre-defined route may be generated based on a map of the indoor space, a set of predefined walking strategies, an average walking speed, a time limit, and an optimization goal. For example, if a person is able walk at some average speed for a set period of time, a route may be identified which provides a given density of data points (the optimization goal) within the indoor space. The collected data may then used to build a wireless network model of the indoor space for navigation.
摘要翻译：本公开的方面通常涉及生成用于室内导航的可靠数据。更具体地，方面涉及识别人们遵循的路由，以便记录诸如无线网络接入位置或其他信标信号信息和信号强度的室内空间的数据。在一个示例中，可以基于室内空间的映射，一组预定义的行走策略，平均步行速度，时间限制和优化目标来生成预定义的路线。例如，如果一个人能够以一定的平均速度行走一段时间，则可以识别在室内空间内提供给定密度的数据点（优化目标）的路线。然后收集的数据可用于构建用于导航的室内空间的无线网络模型。

8. 发明授权

US09291460B2 Map processing for indoor navigation guidance 有权
标题翻译：地图处理室内导航指导
公开(公告)号：US09291460B2
公开(公告)日：2016-03-22
申请号：US13188798
申请日：2011-07-22
申请人： Scott Ettinger , Ehud Rivlin
发明人： Scott Ettinger , Ehud Rivlin
IPC分类号： G01C21/20
CPC分类号： G01C21/206
摘要： Directions are provided to a location in an indoor space in response to receiving a request from a mobile device. First, a map of the indoor space is processed to identify navigable areas in the indoor space. A distance transform is then executed on the map as part of a process to generate a directed graph. The directed graph includes nodes that correspond to points in the indoor space and paths that correspond to routes between the nodes. Next, a navigation table is generated based on the directed graph to identify a shortest route from each node to at least one other node. In response to a request for directions to a location in the indoor space, the navigation table is accessed to identify a route to the requested location. The identified route is then provided to a mobile device such that an end user may navigate to the location.
摘要翻译：响应于接收到来自移动设备的请求，将指示提供给室内空间中的位置。首先，处理室内空间的地图，以识别室内空间中的可导航区域。然后在地图上执行距离变换，作为生成有向图的过程的一部分。有向图包括对应于室内空间中的点的节点和对应于节点之间的路线的路径。接下来，基于有向图生成导航表，以识别从每个节点到至少一个其他节点的最短路由。响应于向室内空间中的位置的指示的请求，访问导航表以识别到所请求的位置的路线。然后将所识别的路由提供给移动设备，使得最终用户可以导航到该位置。

9. 发明申请

US20060002635A1 Computing a higher resolution image from multiple lower resolution images using model-based, robust bayesian estimation 有权
标题翻译：使用基于模型的鲁棒贝叶斯估计来计算来自多个较低分辨率图像的较高分辨率图像
公开(公告)号：US20060002635A1
公开(公告)日：2006-01-05
申请号：US10882723
申请日：2004-06-30
申请人： Oscar Nestares , Horst Haussecker , Scott Ettinger
发明人： Oscar Nestares , Horst Haussecker , Scott Ettinger
IPC分类号： G06K9/32
CPC分类号： G06T3/4053
摘要： A result higher resolution (HR) image of a scene given multiple, observed lower resolution (LR) images of the scene is computed using a Bayesian estimation image reconstruction methodology. The methodology yields the result HR image based on a Likelihood probability function that implements a model for the formation of LR images in the presence of noise. This noise is modeled by a probabilistic, non-Gaussian, robust function. Other embodiments are also described and claimed.
摘要翻译：使用贝叶斯估计图像重建方法计算场景给定多个观察到的较低分辨率（LR）图像的场景的更高分辨率（HR）图像。该方法产生基于似然概率函数的结果HR图像，其实现了在存在噪声的情况下形成LR图像的模型。该噪声由概率非高斯鲁棒函数建模。还描述和要求保护其他实施例。

10. 发明授权

US08818706B1 Indoor localization and mapping 有权
标题翻译：室内定位和绘图
公开(公告)号：US08818706B1
公开(公告)日：2014-08-26
申请号：US13109444
申请日：2011-05-17
申请人： Abhijit Ogale , Ehud Rivlin , Scott Ettinger
发明人： Abhijit Ogale , Ehud Rivlin , Scott Ettinger
IPC分类号： G01C21/00 , G01C21/30
CPC分类号： G01C21/206 , G01C21/005
摘要： An indoor area may be localized to provide end users with a mobile-accessible map to guide the end user in navigating the indoor area. A preliminary version of a map of the indoor area to be localized is processed to identify different navigable routes within the indoor area. A user may access the processed map and collect sensory data using the mobile device while moving along any of the navigable routes. The different sensory data that is collected at the same moment in time may be associated based on the location of the mobile device when the data is collected. The localized map is then generated with visual indications of the locations of the corresponding sensory data. The end user may then access the localized map on a mobile device to navigate the indoor area and to locate specific points of interest corresponding to the sensory data.
摘要翻译：可以将室内区域本地化以向最终用户提供移动可访问地图，以引导最终用户导航室内区域。处理要定位的室内地图的初步版本，以识别室内区域内的不同的可通航路线。用户可以访问处理过的地图，并在沿任何可导航路线移动的同时使用移动设备收集感觉数据。在收集数据时，可以基于移动设备的位置来将在同一时刻收集的不同感官数据相关联。然后通过对应感官数据的位置的可视指示来生成局部化的图。然后，最终用户可以访问移动设备上的局部地图，以导航室内区域并且定位与感觉数据相对应的特定兴趣点。

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