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1. 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。

2. 发明授权

US09462423B1 Qualitative and quantitative sensor fusion for indoor navigation 有权
标题翻译：室内导航的定性和定量传感器融合
公开(公告)号：US09462423B1
公开(公告)日：2016-10-04
申请号：US13180890
申请日：2011-07-12
申请人： Ehud Rivlin , Abhijit Ogale
发明人： Ehud Rivlin , Abhijit Ogale
IPC分类号： H04W24/00 , H04W4/04 , H04W4/02
CPC分类号： H04W4/043 , H04W4/02
摘要： A system and method for determining the location of a mobile device is provided. Such a method includes receiving an interior map, determining a first location to be an absolute location of a mobile communication device, locating the absolute location at a first position on the interior map, relocating the mobile communication device to a second location, estimating the second location of the mobile communication device based on an output of one or more sensors and modifying, using a computer-based system, the estimated second location based on a comparison of the estimated second location to the interior map.
摘要翻译：提供了一种用于确定移动设备的位置的系统和方法。这种方法包括接收内部地图，确定第一位置是移动通信设备的绝对位置，将绝对位置定位在内部地图上的第一位置，将移动通信设备重定位到第二位置，估计第二位置基于一个或多个传感器的输出的移动通信设备的位置，并且基于基于计算机的系统，基于估计的第二位置与内部地图的比较来修改估计的第二位置。

3. 发明授权

US08593485B1 Automatic video and dense image-based geographic information matching and browsing 有权
标题翻译：自动视频和密集的基于图像的地理信息匹配和浏览
公开(公告)号：US08593485B1
公开(公告)日：2013-11-26
申请号：US12431279
申请日：2009-04-28
申请人： Dragomir Anguelov , Abhijit Ogale , Ehud Rivlin , Jay Yagnik
发明人： Dragomir Anguelov , Abhijit Ogale , Ehud Rivlin , Jay Yagnik
IPC分类号： G09G5/00
CPC分类号： G09G5/377 , G06F3/1462 , G09G2340/12 , G09G2340/14 , G09G2354/00 , G09G2370/022 , G09G2380/00
摘要： Methods and systems permit automatic matching of videos with images from dense image-based geographic information systems. In some embodiments, video data including image frames is accessed. The video data may be segmented to determine a representative image frame of a segment of the video data. Data representing information from the representative image frame may be automatically compared with data representing information from a plurality of image frames of an image-based geographic information data system. Such a comparison may, for example, involve a search for a best match between geometric features, histograms, color data, texture data, etc. of the compared images. Based on the automatic comparing, an association between the video and one or more images of the image-based geographic information data system may be generated. The association may represent a geographic correlation between selected images of the system and the video data.
摘要翻译：方法和系统允许视频与来自基于图像的地理信息系统的图像自动匹配。在一些实施例中，访问包括图像帧的视频数据。视频数据可以被分割以确定视频数据的段的代表性图像帧。表示来自代表图像帧的信息的数据可以与表示来自基于图像的地理信息数据系统的多个图像帧的信息的数据自动进行比较。这样的比较可以例如涉及搜索比较图像的几何特征，直方图，颜色数据，纹理数据等之间的最佳匹配。基于自动比较，可以生成视频与基于图像的地理信息数据系统的一个或多个图像之间的关联。该关联可以表示系统的所选图像与视频数据之间的地理相关性。

4. 发明授权

US08588097B1 Indoor localization of mobile devices 有权
标题翻译：移动设备的室内本地化
公开(公告)号：US08588097B1
公开(公告)日：2013-11-19
申请号：US13090785
申请日：2011-04-20
申请人： Abhijit Ogale , Ehud Rivlin
发明人： Abhijit Ogale , Ehud Rivlin
IPC分类号： H04L12/26 , H04W24/00 , G01S3/02
CPC分类号： H04W4/043 , G01S5/0252 , H04L41/12 , H04W4/04 , H04W16/20 , H04W24/10 , H04W64/00
摘要： Aspects of the present disclosure provide systems and methods for generating models of a wireless network environment in an indoor space which may be used to predict an indoor location. The disclosure relates to collecting wireless network access point identifier information and power level observed at various locations are collected to generate various signal maps. The signal maps may be used to generate models of the indoor space. In one example, a voting model may use a probability distribution of a plurality of signal maps in order to identify a location with a highest probability of overlap with current signals received at a client device. Once a location has been identified, it may be used to assist with any number of navigational functions, such as providing turn by turn directions to another indoor location, for example, a conference room or exit, or simply providing information about the current location.
摘要翻译：本公开的方面提供用于在室内空间中生成可用于预测室内位置的无线网络环境的模型的系统和方法。本公开涉及收集无线网络接入点标识符信息，并且收集在各个位置观察到的功率电平以生成各种信号映射。信号图可以用于产生室内空间的模型。在一个示例中，投票模型可以使用多个信号映射的概率分布，以便识别与在客户端设备处接收的当前信号重叠的最高概率的位置。一旦确定了位置，它可以用于协助任何数量的导航功能，例如向另一室内位置（例如，会议室或出口）提供转弯方向，或简单地提供关于当前位置的信息。

5. 发明授权

US08867313B1 Audio based localization 有权
标题翻译：基于音频的本地化
公开(公告)号：US08867313B1
公开(公告)日：2014-10-21
申请号：US13179926
申请日：2011-07-11
申请人： Ehud Rivlin , Abhijit Ogale
发明人： Ehud Rivlin , Abhijit Ogale
IPC分类号： G01S11/00
CPC分类号： G01S5/30 , G01S11/14
摘要： Methods of and systems for determining a location of a mobile device using transmitted audio signals is provided. In an embodiment, meta data included in the audio signals may also be used. In an embodiment, a characteristic, such as a received signal strength, may be measured to determine the location of the mobile device.
摘要翻译：提供了使用传输的音频信号来确定移动设备的位置的方法和系统。在一个实施例中，还可以使用包括在音频信号中的元数据。在一个实施例中，可以测量诸如接收信号强度的特性以确定移动设备的位置。

6. 发明授权

US08599758B1 Indoor localization of mobile devices 有权
公开(公告)号：US08599758B1
公开(公告)日：2013-12-03
申请号：US13090710
申请日：2011-04-20
申请人： Abhijit Ogale , Ehud Rivlin
发明人： Abhijit Ogale , Ehud Rivlin
IPC分类号： H04W4/00
CPC分类号： H04W4/04
摘要： Aspects of this disclosure provide systems and methods for generating models of a wireless network environment in an indoor space which may be used to predict an indoor location. The disclosure relates to collecting wireless network access point identifier information and power level observed at various locations are collected to generate various signal maps. The signal maps may be used to generate models of the indoor space. In one example, a voting model may use a probability distribution of a plurality of signal maps in order to identify a location with a highest probability of overlap with current signals received at a client device. Once a location has been identified, it may be used to assist with any number of navigational functions, such as providing turn by turn directions to another indoor location, for example, a conference room or exit, or simply providing information about the current location.

7. 发明申请

US20150124047A1 PANORAMIC VIDEO ACQUISITION GUIDANCE 审中-公开
标题翻译：全景视频采集指导
公开(公告)号：US20150124047A1
公开(公告)日：2015-05-07
申请号：US13553991
申请日：2012-07-20
申请人： Liron YATZIV , Abhijit Ogale , Gadi Royz , Rony Amira , Yossi Matias , Misha Seltzer
发明人： Liron YATZIV , Abhijit Ogale , Gadi Royz , Rony Amira , Yossi Matias , Misha Seltzer
IPC分类号： H04N5/232 , H04N7/00
CPC分类号： H04N5/23222 , H04N5/23238 , H04N5/23293
摘要： Panoramic video acquisition guidance is automatically provided as feedback during panoramic video capture. Commensurate with receiving a panoramic video being captured, at least one panoramic video acquisition guidance indicator is provided. This panoramic video guidance acquisition indicator(s) provides real-time acquisition feedback on the panoramic video being captured, and is based, at least in part, on the panoramic video being captured or movement of a video capture device capturing the panoramic video. In one or more implementations, the panoramic video guidance indicator may include a video rotation progress indicator, a video tilt or video pitch indicator, and/or a video rotation speed indicator.
摘要翻译：在全景视频拍摄期间，全景视频采集指导作为反馈自动提供。在接收到正在捕获的全景视频的同时，提供至少一个全景视频采集指导指示符。该全景视频指导获取指示器提供对正被捕获的全景视频的实时采集反馈，并且至少部分地基于捕获的全景视频或捕获全景视频的视频捕捉设备的移动。在一个或多个实现中，全景视频引导指示符可以包括视频旋转进度指示符，视频倾斜或视频音调指示符和/或视频转速指示符。

8. 发明授权

US08577604B1 System and method of determining map coordinates from images 有权
公开(公告)号：US08577604B1
公开(公告)日：2013-11-05
申请号：US13157831
申请日：2011-06-10
申请人： Abhijit Ogale , Stephane Lafon , Andrea Frome
发明人： Abhijit Ogale , Stephane Lafon , Andrea Frome
IPC分类号： G01C21/32 , G01C21/26
CPC分类号： G01C21/34 , G01C21/26 , G01C21/32 , G01C21/3476 , G01C21/3602 , G01S5/16 , G01S17/08 , G01S19/51
摘要： Systems and methods provide approximations of latitude and longitude coordinates of objects, for example a business, in street level images. The images may be collected by a camera. An image of a business is collected along with GPS coordinates and direction of the camera. Depth maps of the images may be generated, for example, based on laser depth detection or displacement of the business between two images caused by a change in the position of the camera. After identifying a business in one or more images, the distance from the camera to a point or area relative to the business in the one or more images may be determined based on the depth maps. Using this distance and the direction of the camera which collected the one or more images and GPS coordinates of the camera, the approximate GPS coordinates of the business may be determined.

9. 发明授权

US09053555B1 Creating a mesh from a sparse structure-from-motion point cloud using co-visibility of points 有权
标题翻译：使用点的共同可见性从稀疏的运动点云创建网格
公开(公告)号：US09053555B1
公开(公告)日：2015-06-09
申请号：US13478652
申请日：2012-05-23
申请人： Abhijit Ogale
发明人： Abhijit Ogale
IPC分类号： G06T17/20 , G06T7/20 , G06T17/00 , G06T17/10 , G06T17/05 , G06T19/20 , G06T7/00
CPC分类号： G06T7/20 , G06T7/593 , G06T17/00 , G06T17/05 , G06T17/10 , G06T17/20 , G06T19/20 , G06T2200/04 , G06T2200/08 , G06T2207/10012
摘要： A method for creating a three-dimensional mesh model of a structure includes accessing a set of three-dimensional points associated with a set of images of the structure. For each three-dimensional point in the set of three-dimensional points, the method determines a reference image, identifies a subset of images from the set of images of the structure taken within a distance from the reference image, determines a subset of three-dimensional points seen by the subset of images, filters the subset of three-dimensional points to retain only a set of co-visible points that lie in a visibility cone of the reference image, and selects a normal using the set of co-visible points. The three-dimensional mesh model of the structure is computed using the selected normal, and the model may be provided to a second computing device.
摘要翻译：用于创建结构的三维网格模型的方法包括访问与该结构的一组图像相关联的一组三维点。对于三维点集合中的每个三维点，该方法确定参考图像，从距离参考图像的一定距离内拍摄的结构图像集合中识别图像子集，确定三维点的子集，由图像子集看到的三维点，对三维点的子集进行滤波，以仅保留位于参考图像的可见度锥中的一组共同可见点，并使用该组可见点选择正常。使用所选择的法线来计算结构的三维网格模型，并且可以将模型提供给第二计算设备。

10. 发明授权

US09195914B2 Construction zone sign detection 有权
标题翻译：施工区域检测
公开(公告)号：US09195914B2
公开(公告)日：2015-11-24
申请号：US13603615
申请日：2012-09-05
申请人： Nathaniel Fairfield , David Ian Ferguson , Abhijit Ogale , Matthew Wang , Yangli Hector Yee
发明人： Nathaniel Fairfield , David Ian Ferguson , Abhijit Ogale , Matthew Wang , Yangli Hector Yee
IPC分类号： G01C22/00 , G05D1/00 , G06K9/78 , G06K9/00 , B62D6/00 , B60T7/12 , B60W30/10 , B60W30/14 , B60W40/06 , G05D1/02 , B62D15/02 , B60T1/10 , B60T7/18 , B60T7/22 , H04N7/18
CPC分类号： G06K9/78 , B60T1/10 , B60T7/12 , B60T7/18 , B60T7/22 , B60T2201/08 , B60W30/10 , B60W30/143 , B60W40/06 , B60W2420/42 , B60W2550/14 , B60W2550/22 , B62D6/00 , B62D15/025 , B62D15/0255 , B62D15/0265 , G01S7/4802 , G01S7/4808 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9353 , G01S2013/936 , G05D1/0088 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0278 , G05D2201/0213 , G06K9/00798 , G06K9/00805 , G06K9/00818 , H04N7/18
摘要： Methods and systems for detection of a construction zone sign are described. A computing device, configured to control the vehicle, may be configured to receive, from an image-capture device coupled to the computing device, images of a vicinity of the road on which the vehicle is travelling. Also, the computing device may be configured to determine image portions in the images that may depict sides of the road at a predetermined height range. Further, the computing device may be configured to detect a construction zone sign in the image portions, and determine a type of the construction zone sign. Accordingly, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
摘要翻译：描述了用于检测结构区域符号的方法和系统。被配置为控制车辆的计算设备可以被配置为从耦合到计算设备的图像捕获设备接收车辆行驶的道路附近的图像。此外，计算设备可以被配置为确定可以在预定高度范围处描绘道路的侧面的图像中的图像部分。此外，计算装置可以被配置为检测图像部分中的构造区域标记，并且确定构造区域符号的类型。因此，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。

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