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21. 发明申请

US20130335562A1 ADAPTIVE SWITCHING BETWEEN VISION AIDED INS AND VISION ONLY POSE 有权
标题翻译：愿景之间的自适应切换和愿景只有立场
公开(公告)号：US20130335562A1
公开(公告)日：2013-12-19
申请号：US13523634
申请日：2012-06-14
申请人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
发明人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
IPC分类号： G06K9/00 , H04N7/18
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。

22. 发明申请

US20110106477A1 CALIBRATING MULTI-DIMENSIONAL SENSOR FOR OFFSET, SENSITIVITY, AND NON-ORTHOGONALITY 有权
标题翻译：校准用于偏差，灵敏度和非正交性的多维传感器
公开(公告)号：US20110106477A1
公开(公告)日：2011-05-05
申请号：US12612563
申请日：2009-11-04
申请人： Christopher Brunner
发明人： Christopher Brunner
IPC分类号： G06F19/00 , G01C17/38
CPC分类号： G06F3/0346 , G01R33/0035 , G01R33/0206 , G06F3/038
摘要： A multi-dimensional sensor, a magnetometer or accelerometer, is calibrated based on the raw data provided by the sensor. Raw data is collected and may be used to generate ellipse or ellipsoid parameters, for a two-dimensional or three-dimensional sensor, respectively. An offset calibration factor is calculated based on the raw data, e.g., the determined ellipse or ellipsoid parameters. A sensitivity calibration factor is then calculated based on the offset calibration factor and the raw data. A non-orthogonality calibration factor can then be calculated based on the calculated offset and sensitivity calibration factors. Using the offset, sensitivity and non-orthogonality calibration factors, the raw data can be corrected to produce calibrated data.
摘要翻译：基于由传感器提供的原始数据来校准多维传感器，磁力计或加速度计。收集原始数据，并分别用于生成二维或三维传感器的椭圆或椭圆参数。基于原始数据，例如确定的椭圆或椭圆参数来计算偏移校准因子。然后基于偏移校准因子和原始数据计算灵敏度校准因子。然后可以基于计算的偏移和灵敏度校准因子来计算非正交性校准因子。使用偏移，灵敏度和非正交性校准因子，可以校正原始数据以产生校准数据。

23. 发明申请

US20110106474A1 ACCURATE MAGNETIC COMPASS IN MOBILE ELECTRONIC DEVICE 有权
标题翻译：移动电子设备中的精确磁性指示器
公开(公告)号：US20110106474A1
公开(公告)日：2011-05-05
申请号：US12612529
申请日：2009-11-04
申请人： Victor Kulik , Christopher Brunner
发明人： Victor Kulik , Christopher Brunner
IPC分类号： G01C17/38
CPC分类号： G01C17/38
摘要： Methods and apparatus are described herein for calibration and correction of non-constant sensor errors, and in particular non-constant compass errors, that are based in part on changing software and hardware modes of a host device. The non-constant errors induced in the sensor by each mode and combination of modes is determined in a calibration that may be determined during pre-production testing of one or more host devices. The calibration results can be incorporated into software and/or hardware of the host device. During normal operation, a sensor correction can be applied to sensor measurements based in part on the active mode or combination of modes.
摘要翻译：这里描述了用于校准和校正非恒定传感器误差，特别是非恒定罗盘误差的方法和装置，其部分基于改变主机设备的软件和硬件模式。通过每种模式和模式组合在传感器中感应的非常数误差在可以在一个或多个主机设备的预生产测试期间确定的校准中确定。校准结果可以并入主机设备的软件和/或硬件中。在正常操作期间，传感器校正可以部分地基于活动模式或模式组合来应用于传感器测量。

24. 发明申请

US20110090081A1 MAPPING WIRELESS SIGNALS WITH MOTION SENSORS 有权
标题翻译：映射无线信号与运动传感器
公开(公告)号：US20110090081A1
公开(公告)日：2011-04-21
申请号：US12851458
申请日：2010-08-05
申请人： Behrooz Khorashadi , Saumitra Mohan Das , Vinay Sridhara , Alok Aggarwal , Christopher Brunner
发明人： Behrooz Khorashadi , Saumitra Mohan Das , Vinay Sridhara , Alok Aggarwal , Christopher Brunner
IPC分类号： G08B1/08
CPC分类号： G01S5/0252
摘要： A displacement device for mapping wireless signal fingerprints includes motion sensors and at least one of a received signal strength indicator (RSSI) sensor and a round trip time (RTT) sensor. The motion sensors may include a pedometer and one or more sensors to receive turn information. The start position of the displacement device is initialized and as the displacement device is moved through an environment, the position of each measurement location is determined using the initialized position and data from the motion sensors. The measurement position along with the RSSI and/or RTT measurement is stored in a database, from which a map can be generated. The position of the access point may be determined using the RSSI measurement or RTT measurement. Additionally, accumulated errors in the measurement position may be monitored and when greater than a threshold, a user may be prompted to reinitialize the position of the displacement device.
摘要翻译：用于映射无线信号指纹的位移设备包括运动传感器和接收信号强度指示器（RSSI）传感器和往返时间（RTT）传感器中的至少一个。运动传感器可以包括计步器和用于接收转向信息的一个或多个传感器。位移装置的起始位置被初始化，并且当位移装置移动通过环境时，使用来自运动传感器的初始化位置和数据来确定每个测量位置的位置。测量位置与RSSI和/或RTT测量一起存储在数据库中，从中可以生成映射。可以使用RSSI测量或RTT测量来确定接入点的位置。此外，可以监视测量位置中的累积误差，并且当大于阈值时，可以提示用户重新初始化位移装置的位置。

25. 发明申请

US20070109999A1 METHOD AND SYSTEM FOR ADAPTIVE MODIFICATION OF CELL BOUNDARY 有权
标题翻译：电池边界自适应修正的方法和系统
公开(公告)号：US20070109999A1
公开(公告)日：2007-05-17
申请号：US11469031
申请日：2006-08-31
申请人： Christopher Brunner
发明人： Christopher Brunner
IPC分类号： H04Q7/00
CPC分类号： H04W16/06 , H04W16/08 , H04W16/28 , H04W24/02 , H04W36/20 , H04W36/22 , H04W52/143 , H04W52/241 , H04W52/243 , H04W52/283 , H04W52/325 , H04W52/343 , H04W52/40
摘要： A method and system for reducing interference in a cellular radio communications network. At least one parameter affecting user terminals within a cell is adjusted such that the cell boundary is modified, such that interference in the network is reduced. In alternative embodiments the at least one parameter is adjusted adaptively.
摘要翻译：一种用于减少蜂窝无线电通信网络中的干扰的方法和系统。调整影响小区内的用户终端的至少一个参数，使得小区边界被修改，使得减少网络中的干扰。在替代实施例中，自适应地调整至少一个参数。

26. 发明申请

US20060204359A1 Abrasion resistant pump thrust bearing 有权
公开(公告)号：US20060204359A1
公开(公告)日：2006-09-14
申请号：US11372616
申请日：2006-03-10
申请人： Ryan Semple , Robert DeLong , Christopher Brunner , Arturo Poretti
发明人： Ryan Semple , Robert DeLong , Christopher Brunner , Arturo Poretti
IPC分类号： F04D29/08
CPC分类号： F04D1/063 , F04D29/0413 , F04D29/047
摘要： A centrifugal pump has a stationary diffuser with a bore. A thrust bearing has a tubular portion that inserts into the bore. The thrust bearing has an external shoulder that contacts a support surface in the bore of the diffuser for transmitting downward thrust from an upstream impeller to the diffuser. The thrust bearing has an internal shoulder for transmitting upward thrust from a downstream impeller to the diffuser.

27. 发明授权

US06865377B1 Combined open and closed loop beam forming in a multiple array radio communication system 失效
标题翻译：在多阵列无线电通信系统中组合开和闭环波束形成
公开(公告)号：US06865377B1
公开(公告)日：2005-03-08
申请号：US10187036
申请日：2002-06-28
申请人： Erik D. Lindskog , Adam B. Kerr , Christopher Brunner , Mitchell D. Trott
发明人： Erik D. Lindskog , Adam B. Kerr , Christopher Brunner , Mitchell D. Trott
IPC分类号： H04B7/06 , H04B1/02 , H04C7/02
CPC分类号： H04B7/0634 , H04B7/0617 , H04B7/0632
摘要： A method and apparatus are provided that can combine the benefits of beamforming with transmit diversity. In one embodiment, the invention includes sampling a signal received from a remote radio at elements of an antenna array, deriving spatial parameters for transmitting a signal to the remote radio from an antenna array, sampling the signal received from the remote radio at elements of at least one additional antenna array, and deriving spatial parameters for transmitting a signal to the remote radio from the at least one additional antenna array. The invention further includes generating diversity parameters for transmitting a signal to the remote radio using each antenna array as an element of a diversity array, and transmitting a signal to the remote radio using the spatial parameters and the diversity parameters.
摘要翻译：提供了一种可以将波束成形与发射分集的优点组合的方法和装置。在一个实施例中，本发明包括对从天线阵列的元件的远程无线电接收的信号进行采样，导出用于从天线阵列向远程无线电发送信号的空间参数，至少一个附加天线阵列，以及导出用于从所述至少一个附加天线阵列向远程无线电发送信号的空间参数。本发明还包括生成用于使用每个天线阵列作为分集阵列的元件将信号发送到远程无线电的分集参数，以及使用空间参数和分集参数将信号发送到远程无线电装置。

28. 发明授权

US10248184B2 Sensor API framework for cloud based applications 有权
公开(公告)号：US10248184B2
公开(公告)日：2019-04-02
申请号：US13292578
申请日：2011-11-09
申请人： Piyush Sharma , Ashwin Swaminathan , Christopher Brunner , Murali R. Chari
发明人： Piyush Sharma , Ashwin Swaminathan , Christopher Brunner , Murali R. Chari
IPC分类号： G06F3/00 , G06F9/44 , G06F9/46 , G06F13/00 , G06F1/3293 , H04W52/02 , G06F9/54 , H04L29/08
摘要： An apparatus and method for a framework exposing an API (application programming interface) to web-based server applications on the internet or in the cloud is presented. The API allows server applications to retrieve sensor data from a mobile device via a low-power sensor core processor on a mobile device. This API eliminates effort and cost associated with developing and promoting a new mobile device client application. The API framework includes APIs that web-based application may use to fetch sensor data from one or more particular sensors on the mobile device.

29. 发明授权

US09116001B2 Adaptive estimation of frame time stamp latency 有权
标题翻译：帧时间戳延迟的自适应估计
公开(公告)号：US09116001B2
公开(公告)日：2015-08-25
申请号：US13523638
申请日：2012-06-14
申请人： Christopher Brunner , Mahesh Ramachandran , Arvind Ramanandan , Murali Ramaswamy Chari
发明人： Christopher Brunner , Mahesh Ramachandran , Arvind Ramanandan , Murali Ramaswamy Chari
IPC分类号： G01C21/16 , H04N17/00 , H04N5/232
CPC分类号： G01C21/16 , H04N5/23254 , H04N5/23258 , H04N17/002
摘要： A mobile device compensates for a lack of a time stamp when an image frame is captured by estimating the frame time stamp latency. The mobile device captures images frames and time stamps each frame after the frame time stamp latency. A vision based rotation is determined from a pair of frames. A plurality of inertia based rotations is measured using time stamped signals from an inertial sensor in the mobile device based on different possible delays between time stamping each frame and time stamps on the signals from the inertial sensors. The determined rotations may be about the camera's optical axis. The vision based rotation is compared to the plurality of inertia based rotations to determine an estimated frame time stamp latency, which is used to correct the frame time stamp latency when time stamping subsequently captured frames. A median latency determined using different frame pairs may be used.
摘要翻译：当通过估计帧时间戳等待时间来捕获图像帧时，移动设备补偿缺少时间戳。移动设备在帧时间戳延迟之后每帧捕获图像帧和时间戳。基于视觉的旋转由一对帧确定。基于来自移动设备中的惯性传感器的时间戳信号，基于每个帧的时间戳和来自惯性传感器的信号的时间戳之间的不同可能的延迟来测量多个基于惯量的旋转。确定的旋转可以是关于相机的光轴。将基于视觉的旋转与多个基于惯性的旋转进行比较，以确定估计的帧时间戳延迟，其用于在随后拍摄的帧时间戳时校正帧时间戳等待时间。可以使用使用不同帧对确定的中值等待时间。

30. 发明申请

US20140064601A1 ROBOT CONTROL INFORMATION 有权
标题翻译：机器人控制信息
公开(公告)号：US20140064601A1
公开(公告)日：2014-03-06
申请号：US13604470
申请日：2012-09-05
申请人： Mahesh Ramachandran , Christopher Brunner , Arvind Ramanandan , Abhishek Tyagi , Murali Ramaswamy Chari
发明人： Mahesh Ramachandran , Christopher Brunner , Arvind Ramanandan , Abhishek Tyagi , Murali Ramaswamy Chari
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G05B2219/36488 , G05B2219/39449
摘要： Vision based tracking of a mobile device is used to remotely control a robot. For example, images captured by a mobile device, e.g., in a video stream, are used for vision based tracking of the pose of the mobile device with respect to the imaged environment. Changes in the pose of the mobile device, i.e., the trajectory of the mobile device, are determined and converted to a desired motion of a robot that is remote from the mobile device. The robot is then controlled to move with the desired motion. The trajectory of the mobile device is converted to the desired motion of the robot using a transformation generated by inverting a hand-eye calibration transformation.
摘要翻译：使用移动设备的基于视觉的跟踪来远程控制机器人。例如，由诸如视频流中的移动设备捕获的图像被用于相对于成像环境的基于视觉的跟踪移动设备姿态。确定移动设备的姿态，即移动设备的轨迹的变化，并将其转换为远离移动设备的机器人的期望运动。然后控制机器人以期望的运动移动。使用通过反转手眼校准变换产生的变换将移动设备的轨迹转换为机器人的期望运动。

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