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1. 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。

2. 发明授权

US09123135B2 Adaptive switching between vision aided INS and vision only pose 有权
标题翻译：视觉辅助INS与视力之间的自适应切换只有姿态
公开(公告)号：US09123135B2
公开(公告)日：2015-09-01
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： G06T7/20 , H04N5/232 , G01S3/786
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。

3. 发明授权

US09025856B2 Robot control information 有权
标题翻译：机器人控制信息
公开(公告)号：US09025856B2
公开(公告)日：2015-05-05
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 , B25J9/16
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。

4. 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。

5. 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。

6. 发明申请

US20130335554A1 ADAPTIVE ESTIMATION OF FRAME TIME STAMP LATENCY 有权
标题翻译：自适应估计帧时间戳延迟
公开(公告)号：US20130335554A1
公开(公告)日：2013-12-19
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： H04N7/18
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。

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