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1. 发明公开

EP2914966A1 A METHOD FOR ALIGNING A MOBILE DEVICE SURFACE WITH THE COORDINATE SYSTEM OF A SENSOR 有权
标题翻译：方法把表面的移动设备通过坐标传感器
公开(公告)号：EP2914966A1
公开(公告)日：2015-09-09
申请号：EP13789098.4
申请日：2013-10-22
申请人： Qualcomm Incorporated
发明人： RAMACHANDRAN, Mahesh , RAMANANDAN, Arvind , BRUNNER, Christopher , CHARI, Murali Ramaswamy
IPC分类号： G01P21/00 , G01C25/00
CPC分类号： G01P21/00 , G01C25/00 , G01C25/005
摘要： An accelerometer in a mobile device is calibrated by taking multiple measurements of acceleration vectors when the mobile device is held stationary at different orientations with respect to a plane normal. A circle is calculated that fits respective tips of measured acceleration vectors in the accelerometer coordinate system. The radius of the circle and the lengths of the measured acceleration vectors are used to calculate a rotation angle for aligning the accelerometer coordinate system with the mobile device surface. A gyroscope in the mobile device is calibrated by taking multiple measurements of a rotation axis when the mobile device is rotated at different rates with respect to the rotation axis. A line is calculated that fits the measurements. The angle between the line and an axis of the gyroscope coordinate system is used to align the gyroscope coordinate system with the mobile device surface.
摘要翻译：在装置中的加速度计的移动是通过取加速度矢量的多个测量当移动设备是在不同的方向保持静止相对于法线的平面校准。的圆计算那样配合在加速度坐标系统的测量的加速度矢量的respectivement提示。圆和所测量的加速度矢量的长度的半径来计算旋转角度用于对准的加速度计坐标系与所述移动设备的表面。在移动设备A陀螺仪是通过取的旋转轴线的多个测量当移动设备被以不同的速率旋转了相对于旋转轴线校准。一条线的计算没有适合的测量。线之间，并在陀螺仪坐标系的轴线的角度被用于对准陀螺仪坐标系与所述移动设备的表面。

2. 发明申请

WO2015048397A1 OFF-TARGET TRACKING USING FEATURE AIDING IN THE CONTEXT OF INERTIAL NAVIGATION 审中-公开
标题翻译：使用特征导航在特定导航条件下的非目标跟踪
公开(公告)号：WO2015048397A1
公开(公告)日：2015-04-02
申请号：PCT/US2014/057630
申请日：2014-09-26
申请人： QUALCOMM INCORPORATED
发明人： BRUNNER, Christopher , RAMANANDAN, Arvind , RAMACHANDRAN, Mahesh , TYAGI, Abhishek , CHARI, Murali Ramaswamy
IPC分类号： G01S5/02 , G01S5/16 , G01C21/20 , G06T7/00
CPC分类号： G06T7/248 , G01C21/00 , G01C21/165 , G01C21/20 , G01C21/206 , G01C25/005 , G01S5/0263 , G01S5/0294 , G01S5/16 , G01S5/163 , G01S19/13 , G01S19/14 , G06K9/00671 , G06T7/579 , G06T7/60 , G06T7/80 , G06T2207/10004 , G06T2207/10016 , G06T2207/10032 , G06T2207/30212 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , H04M2250/12 , H04M2250/52 , H04W4/029 , H04W4/043 , H04W4/33
摘要： A Visual Inertial Tracker (VIT), such as a Simultaneous Localization And Mapping (SLAM) system based on an Extended Kalman Filter (EKF) framework (EKF-SLAM) can provide drift correction in calculations of a pose (translation and orientation) of a mobile device by obtaining location information regarding a target, obtaining an image of the target, estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, and correcting a pose determination of the mobile device using an EKF, based, at least in part, on the measurements relating to the pose of the mobile device.
摘要翻译：视觉惯性跟踪器（VIT），例如基于扩展卡尔曼滤波器（EKF-SLAM）的同时定位和映射（SLAM）系统，可以在计算一个姿势（平移和定向）时提供漂移校正通过获取关于目标的位置信息，获得目标图像，基于所述图像和位置信息，从所述目标图像估计与所述移动装置的姿势有关的测量值，以及校正所述移动装置的姿势确定至少部分地基于与移动设备的姿态有关的测量的使用EKF的移动设备。

3. 发明申请

WO2014070399A1 ESTIMATING THE GRAVITY VECTOR IN A WORLD COORDINATE SYSTEM USING AN ACCELEROMETER IN A MOBILE DEVICE 审中-公开
标题翻译：使用移动设备在移动设备中估算世界坐标系统中的重力矢量
公开(公告)号：WO2014070399A1
公开(公告)日：2014-05-08
申请号：PCT/US2013/064172
申请日：2013-10-09
申请人： QUALCOMM INCORPORATED
发明人： RAMANANDAN, Arvind , RAMACHANDRAN, Mahesh , BRUNNER, Christopher , CHARI, Murali Ramaswamy
IPC分类号： G06F1/16 , G06F3/0346 , G01P21/00
CPC分类号： G01P13/02 , G01C21/10 , G01C25/005 , G06F1/1694 , G06F3/0346
摘要： An accelerometer located within a mobile device is used to estimate a gravity vector on a target plane in a world coordinate system. The accelerometer makes multiple measurements, each measurement being taken when the mobile device is held stationary on the target plane and a surface of the mobile device faces and is in contact with a planar portion of the target plane. An average of the measurements is calculated. A rotational transformation between an accelerometer coordinate system and a mobile devices coordinate system is retrieved from a memory in the mobile device, where the mobile devices coordinate system is aligned with the surface of the mobile device. The rotational transformation is applied to the averaged measurements to obtain an estimated gravity vector in a world coordinate system defined by the target plane.
摘要翻译：位于移动设备内的加速度计用于估计世界坐标系中目标平面上的重力矢量。加速度计进行多次测量，当移动设备在目标平面上保持静止并且移动设备的表面面对并且与目标平面的平面部分接触时，进行每次测量。计算平均值。从移动设备中的存储器检索加速度计坐标系和移动设备坐标系之间的旋转变换，其中移动设备坐标系与移动设备的表面对齐。将旋转变换应用于平均测量值，以获得由目标平面定义的世界坐标系中的估计重力矢量。

4. 发明申请

WO2013188308A1 ADAPTIVE SWITCHING BETWEEN A VISION AIDED INTERTIAL CAMERA POSE ESTIMATION AND A VISION BASED ONLY CAMERA POSE ESTIMATION 审中-公开
标题翻译：视觉辅助摄像机位置估计与视觉之间的自适应切换仅基于摄像机位置估计
公开(公告)号：WO2013188308A1
公开(公告)日：2013-12-19
申请号：PCT/US2013/045012
申请日：2013-06-10
申请人： QUALCOMM INCORPORATED
发明人： RAMANANDAN, Arvind , BRUNNER, Christopher , RAMACHANDRAN, Mahesh , TYAGI, Abhishek , KNOBLAUCH, Daniel , CHARI, Murali Ramaswamy
IPC分类号： G06T7/00 , H04N5/232
CPC分类号： G06T7/2053 , G01S3/786 , G06T7/254 , G06T2207/10016
摘要： A mobile device tracks a relative pose between a camera and a target using Vision aided Inertial Navigation System (VINS), that includes a contribution from inertial sensor measurements and a contribution from vision based measurements. When the mobile device detects movement of the target, the contribution from the inertial sensor measurements to track the relative pose between the camera and the target is reduced or eliminated. Movement of the target may be detected by comparing vision only measurements from captured images and inertia based measurements to determine if a discrepancy exists indicating that the target has moved. Additionally or alternatively, movement of the target may be detected using projections of feature vectors extracted from captured images.
摘要翻译：移动设备使用视觉辅助惯性导航系统（VINS）跟踪摄像机和目标之间的相对姿态，其包括来自惯性传感器测量的贡献以及基于视觉的测量的贡献。当移动设备检测到目标的移动时，减少或消除了惯性传感器测量对跟踪相机和目标之间的相对姿势的贡献。可以通过仅从仅捕获图像的测量值和基于惯量的测量结果来比较目标的移动是否存在指示目标已移动的差异，来检测目标的移动。附加地或替代地，可以使用从捕获的图像提取的特征向量的投影来检测目标的移动。

5. 发明申请

WO2018128672A1 SYSTEMS AND METHODS FOR CLASSIFYING ROAD FEATURES 审中-公开
公开(公告)号：WO2018128672A1
公开(公告)日：2018-07-12
申请号：PCT/US2017/058212
申请日：2017-10-25
申请人： QUALCOMM INCORPORATED
发明人： JOSHI, Avdhut , RAMANANDAN, Arvind , CHARI, Murali
IPC分类号： G06K9/00
摘要： An electronic device is described. The electronic device includes a memory and a processor in communication with the memory. The memory is configured to store precalibration data for a camera mounted on a vehicle, the precalibration data including a camera height determined relative to a road plane the vehicle is configured to contact during operation. The processor is configured to receive a plurality of images. The processor is also configured to classify one or more features in the plurality of images as road features based on the precalibration data.

6. 发明申请

WO2018128668A1 SYSTEMS AND METHODS FOR USING A GLOBAL POSITIONING SYSTEM VELOCITY IN VISUAL-INERTIAL ODOMETRY 审中-公开
公开(公告)号：WO2018128668A1
公开(公告)日：2018-07-12
申请号：PCT/US2017/057866
申请日：2017-10-23
申请人： QUALCOMM INCORPORATED
发明人： RAMANANDAN, Arvind , CHARI, Murali , JOSHI, Avdhut
IPC分类号： G01C21/16 , G01S19/49
摘要： A method performed by an electronic device is described. The method includes determining a predicted velocity relative to Earth corresponding to a first epoch using a camera and an inertial measurement unit (IMU). The method also includes determining, using a Global Positioning System (GPS) receiver, a GPS velocity relative to Earth. The method further includes determining a difference vector between the predicted velocity and the GPS velocity. The method additionally includes refining a bias estimate and a scale factor estimate of IMU measurements proportional to the difference vector. The method also includes refining a misalignment estimate between the camera and the IMU based on the difference vector. The method further includes providing pose information based on the refined bias estimate, the refined scale factor, and the refined misalignment estimate.

7. 发明申请

WO2014070524A1 A METHOD FOR ALIGNING A MOBILE DEVICE SURFACE WITH THE COORDINATE SYSTEM OF A SENSOR 审中-公开
标题翻译：用传感器坐标系统对移动设备表面进行对准的方法
公开(公告)号：WO2014070524A1
公开(公告)日：2014-05-08
申请号：PCT/US2013/066169
申请日：2013-10-22
申请人： QUALCOMM INCORPORATED
发明人： RAMACHANDRAN, Mahesh , RAMANANDAN, Arvind , BRUNNER, Christopher , CHARI, Murali Ramaswamy
IPC分类号： G01P21/00 , G01C25/00
CPC分类号： G01P21/00 , G01C25/00 , G01C25/005
摘要： An accelerometer in a mobile device is calibrated by taking multiple measurements of acceleration vectors when the mobile device is held stationary at different orientations with respect to a plane normal. A circle is calculated that fits respective tips of measured acceleration vectors in the accelerometer coordinate system. The radius of the circle and the lengths of the measured acceleration vectors are used to calculate a rotation angle for aligning the accelerometer coordinate system with the mobile device surface. A gyroscope in the mobile device is calibrated by taking multiple measurements of a rotation axis when the mobile device is rotated at different rates with respect to the rotation axis. A line is calculated that fits the measurements. The angle between the line and an axis of the gyroscope coordinate system is used to align the gyroscope coordinate system with the mobile device surface.
摘要翻译：当移动设备以相对于平面法线的不同取向保持静止时，通过对加速度矢量进行多次测量来校准移动设备中的加速度计。计算一个圆圈，该圆圈适合加速度计坐标系中测量加速度向量的各个尖端。使用圆的半径和测量的加速度矢量的长度来计算用于使加速度计坐标系与移动设备表面对准的旋转角度。当移动设备相对于旋转轴以不同的速率旋转时，通过对旋转轴进行多次测量来校准移动设备中的陀螺仪。计算符合测量值的线。陀螺仪坐标系的线和轴之间的角度用于将陀螺仪坐标系与移动设备表面对齐。

8. 发明申请

WO2015088628A2 EXTERIOR HYBRID PHOTO MAPPING 审中-公开
标题翻译：外部混合照片映射
公开(公告)号：WO2015088628A2
公开(公告)日：2015-06-18
申请号：PCT/US2014/057723
申请日：2014-09-26
申请人： QUALCOMM INCORPORATED
发明人： MOEGLEIN, Mark Leo , BRUNNER, Christopher , RAMANANDAN, Arvind , RAMACHANDRAN, Mahesh , TYAGI, Abhishek , CHARI, Murali Ramaswamy
CPC分类号： G06T7/248 , G01C21/00 , G01C21/165 , G01C21/20 , G01C21/206 , G01C25/005 , G01S5/0263 , G01S5/0294 , G01S5/16 , G01S5/163 , G01S19/13 , G01S19/14 , G06K9/00671 , G06T7/579 , G06T7/60 , G06T7/80 , G06T2207/10004 , G06T2207/10016 , G06T2207/10032 , G06T2207/30212 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , H04M2250/12 , H04M2250/52 , H04W4/029 , H04W4/043 , H04W4/33
摘要： Embodiments disclosed pertain to the use of user equipment (UE) for the generation of a 3D exterior envelope of a structure based on captured images and a measurement set associated with each captured image. In some embodiments, a sequence of exterior images of a structure is captured and a corresponding measurement set comprising Inertial Measurement Unit (IMU) measurements, wireless measurements (including Global Navigation Satellite (GNSS) measurements) and/or other non-wireless sensor measurements may be obtained concurrently. A closed-loop trajectory of the UE in global coordinates may be determined and a 3D structural envelope of the structure may be obtained based on the closed loop trajectory and feature points in a subset of images selected from the sequence of exterior images of the structure.
摘要翻译：所公开的实施例涉及基于捕获的图像和与每个捕获的图像相关联的测量集合，使用用户设备（UE）来产生结构的3D外部包络。在一些实施例中，捕获结构的外部图像的序列，并且包括惯性测量单元（IMU）测量，无线测量（包括全球导航卫星（GNSS）测量）和/或其他非无线传感器测量的对应测量集可以同时获得。可以确定UE在全局坐标中的闭环轨迹，并且可以基于从结构的外部图像的序列中选择的图像的子集中的闭环轨迹和特征点来获得结构的3D结构包络。

9. 发明申请

WO2015048434A1 HYBRID PHOTO NAVIGATION AND MAPPING 审中-公开
标题翻译：混合照片导航和映射
公开(公告)号：WO2015048434A1
公开(公告)日：2015-04-02
申请号：PCT/US2014/057702
申请日：2014-09-26
申请人： QUALCOMM INCORPORATED
发明人： MOEGLEIN, Mark Leo , BRUNNER, Christopher , CHAO, Hui , CHARI, Murali Ramaswamy , RAMANANDAN, Arvind , RAMACHANDRAN, Mahesh , TYAGI, Abhishek
IPC分类号： G01S5/02 , G01S5/16 , G01C21/20 , G06T7/00
CPC分类号： G06T7/248 , G01C21/00 , G01C21/165 , G01C21/20 , G01C21/206 , G01C25/005 , G01S5/0263 , G01S5/0294 , G01S5/16 , G01S5/163 , G01S19/13 , G01S19/14 , G06K9/00671 , G06T7/579 , G06T7/60 , G06T7/80 , G06T2207/10004 , G06T2207/10016 , G06T2207/10032 , G06T2207/30212 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , H04M2250/12 , H04M2250/52 , H04W4/029 , H04W4/043 , H04W4/33
摘要： Embodiments disclosed obtain a plurality of measurement sets from a plurality of sensors in conjunction with the capture of a sequence of exterior and interior images of a structure while traversing locations in and around the structure. Each measurement set may be associated with at least one image. An external structural envelope of the structure is determined from exterior images of the structure and the corresponding outdoor trajectory of a UE. The position and orientation of the structure and the structural envelope is determined in absolute coordinates. Further, an indoor map of the structure in absolute coordinates may be obtained based on interior images of the structure, a structural envelope in absolute coordinates, and measurements associated with the indoor trajectory of the UE during traversal of the indoor area to capture the interior images.
摘要翻译：所公开的实施例结合捕获结构的外部和内部图像序列，同时跨过结构内部和周围的位置，从多个传感器获得多个测量集合。每个测量集可以与至少一个图像相关联。从结构的外部图像和UE的对应的室外轨迹确定结构的外部结构包络。以绝对坐标确定结构的位置和方向以及结构包络。此外，可以基于结构的内部图像，绝对坐标的结构包络以及在室内区域的遍历期间与UE的室内轨迹相关联的测量来获取绝对坐标中的结构的室内地图，以捕获内部图像。

10. 发明申请

WO2018128669A1 SYSTEMS AND METHODS FOR USING A SLIDING WINDOW OF GLOBAL POSITIONING EPOCHS IN VISUAL-INERTIAL ODOMETRY 审中-公开
公开(公告)号：WO2018128669A1
公开(公告)日：2018-07-12
申请号：PCT/US2017/057889
申请日：2017-10-23
申请人： QUALCOMM INCORPORATED
发明人： RAMANANDAN, Arvind , CHARI, Murali , CHEN, Yiming , JOSHI, Avdhut , LIMA, John Steven
IPC分类号： G01S19/45 , G01S11/12
CPC分类号： G01S19/45 , G01S11/12 , G01S19/47 , G01S19/52 , G01S19/53
摘要： A method for visual inertial odometry (VIO) -aided global positioning is described. The method includes updating an extended Kalman filter (EKF) state including a current pose and a sliding window of multiple prior poses. The sliding window includes poses at a number of most recent global positioning system (GPS) time epochs. Updating the EKF includes updating an EKF covariance matrix for the prior poses and the current pose in the EKF state. The method also includes determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose. The method further includes determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix. The method additionally includes using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs.

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