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1. 发明申请

US20170046594A1 MANAGING FEATURE DATA FOR ENVIRONMENT MAPPING ON AN ELECTRONIC DEVICE 有权
标题翻译：管理电子设备环境映射的特征数据
公开(公告)号：US20170046594A1
公开(公告)日：2017-02-16
申请号：US14823283
申请日：2015-08-11
申请人： Google Inc.
发明人： Esha Nerurkar , Joel Hesch , Simon Lynen
IPC分类号： G06K9/62
CPC分类号： G06K9/6212 , G05D1/0268 , G06F3/011 , G06F17/30247 , G06F17/30265 , G06F17/3087 , G06K9/46 , G06K9/6267 , G06T7/246 , G06T7/521 , G06T7/593 , G06T7/70 , G06T7/73
摘要： An electronic device reduces localization data based on feature characteristics identified from the data. Based on the feature characteristics, a quality value can be assigned to each identified feature, indicating the likelihood that the data associated with the feature will be useful in mapping a local environment of the electronic device. The localization data is reduced by removing data associated with features have a low quality value, and the reduced localization data is used to map the local environment of the device by locating features identified from the reduced localization data in a frame of reference for the electronic device.
摘要翻译：电子设备基于从数据识别的特征特征来减少定位数据。基于特征特征，可以向每个识别的特征分配质量值，指示与特征相关联的数据在映射电子设备的本地环境时将是有用的。通过去除与特征相关联的数据具有低质量值来减少定位数据，并且减少的定位数据用于通过从电子设备的参考系中定位从缩小的定位数据识别的特征来映射设备的本地环境。

2. 发明授权

US10073531B2 Electronic device pose identification based on imagery and non-image sensor data 有权
公开(公告)号：US10073531B2
公开(公告)日：2018-09-11
申请号：US14877038
申请日：2015-10-07
申请人： Google Inc.
发明人： Joel Hesch , Esha Nerurkar
IPC分类号： G06F3/01 , H04N5/232 , G01P15/09 , G01P15/093
CPC分类号： G06F3/017 , G01C3/08 , G01P15/093 , G01S5/163 , G06T7/73 , G06T2207/30244 , H04N5/23229
摘要： An electronic device includes one or more imaging sensors (e.g, imaging cameras) and includes one or more non-image sensors, such as an inertial measurement unit (IMU), that can provide information indicative of the pose of the electronic device. The electronic device estimates its pose based on two independent sources of pose information: pose information generated at a relatively high rate based on non-visual information generated by the non-image sensors and pose information generated at a relatively low rate based on imagery captured by the one or more imaging sensors. To achieve both a high pose-estimation rate and high degree of pose estimation accuracy, the electronic device adjusts a pose estimate based on the non-visual pose information at a high rate, and at a lower rate spatially smoothes the pose estimate based on the visual pose information.

3. 发明申请

US20160335497A1 CROWD-SOURCED CREATION AND UPDATING OF AREA DESCRIPTION FILE FOR MOBILE DEVICE LOCALIZATION 有权
公开(公告)号：US20160335497A1
公开(公告)日：2016-11-17
申请号：US14708877
申请日：2015-05-11
申请人： Google Inc.
发明人： Brian Patrick Williams , Ryan Michael Hickman , Laurent Tu , Esha Nerurkar , Simon Lynen
IPC分类号： G06K9/00 , G06F17/30 , G06T7/00
CPC分类号： G06K9/00671 , G01C21/206 , G06F17/30256 , G06T7/74 , G06T2207/10004 , G06T2207/10028
摘要： A computing system includes a network interface, a first datastore, a second datastore, and a merge module. The merge module is to receive a set of one or more area description files from a set of one or more first mobile devices. Each area description file represents a point cloud of spatial features detected by a corresponding first mobile device at an area. The computing system further includes a localization module and a query module. The localization generation module is to generate a localization area description file for the area from the set of one or more area description files and to store the localization area description file in the second datastore. The localization area description file represents a point cloud of spatial features for the area. The query module is to provide the localization area description file to a second mobile device via the network interface.
摘要翻译：计算系统包括网络接口，第一数据存储区，第二数据存储区和合并模块。合并模块是从一个或多个第一移动设备的集合接收一组一个或多个区域描述文件。每个区域描述文件表示在一个区域由相应的第一移动设备检测到的空间特征的点云。计算系统还包括定位模块和查询模块。本地化生成模块是从一个或多个区域描述文件的集合中生成针对该区域的定位区域描述文件，并将定位区域描述文件存储在第二数据存储区中。定位区域描述文件表示该区域的空间特征的点云。查询模块是通过网络接口向第二移动设备提供定位区描述文件。

4. 发明申请

US20180276863A1 SYSTEM AND METHOD FOR MERGING MAPS 审中-公开
公开(公告)号：US20180276863A1
公开(公告)日：2018-09-27
申请号：US15466494
申请日：2017-03-22
申请人： Google Inc.
发明人： Esha Nerurkar , Simon Lynen , Dongfang Zheng
IPC分类号： G06T11/60 , G06T3/00 , G06T7/33
CPC分类号： G06T11/60 , G01C21/32 , G06F16/29 , G06T3/0068 , G06T7/337 , G06T2207/20221
摘要： An electronic device merges a plurality of maps, or area description files (ADFs), by representing relationships among ADFs in an undirected graph, with vertices representing maps and edges representing transformations between maps. As the electronic device generates new ADFs, the electronic device merges each new ADF to a stored collection of ADFs by adding each new ADF as a vertex and transformations between the new ADF and the collection of ADFs as edges in the undirected graph. In this way, the map merger can use the undirected graph to more accurately represent the relations between any two maps, allowing more efficient merger of new maps to a previously stored collection of maps, and allowing for the development of more flexible and efficient algorithms for manipulating the merged maps.

5. 发明授权

US09811734B2 Crowd-sourced creation and updating of area description file for mobile device localization 有权
公开(公告)号：US09811734B2
公开(公告)日：2017-11-07
申请号：US14708877
申请日：2015-05-11
申请人： Google Inc.
发明人： Brian Patrick Williams , Ryan Michael Hickman , Laurent Tu , Esha Nerurkar , Simon Lynen
IPC分类号： G06K9/00 , G01C21/20 , G06F17/30 , G06T7/73
CPC分类号： G06K9/00671 , G01C21/206 , G06F17/30256 , G06T7/74 , G06T2207/10004 , G06T2207/10028
摘要： A computing system includes a network interface, a first datastore, a second datastore, and a merge module. The merge module is to receive a set of one or more area description files from a set of one or more first mobile devices. Each area description file represents a point cloud of spatial features detected by a corresponding first mobile device at an area. The computing system further includes a localization module and a query module. The localization generation module is to generate a localization area description file for the area from the set of one or more area description files and to store the localization area description file in the second datastore. The localization area description file represents a point cloud of spatial features for the area. The query module is to provide the localization area description file to a second mobile device via the network interface.

6. 发明申请

US20170102772A1 ELECTRONIC DEVICE POSE IDENTIFICATION BASED ON IMAGERY AND NON-IMAGE SENSOR DATA 审中-公开
公开(公告)号：US20170102772A1
公开(公告)日：2017-04-13
申请号：US14877038
申请日：2015-10-07
申请人： Google Inc.
发明人： Joel Hesch , Esha Nerurkar
IPC分类号： G06F3/01 , G01P15/093 , H04N5/232
CPC分类号： G06F3/017 , G01C3/08 , G01P15/093 , G01S5/163 , G06T7/73 , G06T2207/30244 , H04N5/23229
摘要： An electronic device includes one or more imaging sensors (e.g, imaging cameras) and includes one or more non-image sensors, such as an inertial measurement unit (IMU), that can provide information indicative of the pose of the electronic device. The electronic device estimates its pose based on two independent sources of pose information: pose information generated at a relatively high rate based on non-visual information generated by the non-image sensors and pose information generated at a relatively low rate based on imagery captured by the one or more imaging sensors. To achieve both a high pose-estimation rate and high degree of pose estimation accuracy, the electronic device adjusts a pose estimate based on the non-visual pose information at a high rate, and at a lower rate spatially smoothes the pose estimate based on the visual pose information.

7. 发明授权

US09940542B2 Managing feature data for environment mapping on an electronic device 有权
公开(公告)号：US09940542B2
公开(公告)日：2018-04-10
申请号：US14823283
申请日：2015-08-11
申请人： Google Inc.
发明人： Esha Nerurkar , Joel Hesch , Simon Lynen
IPC分类号： G06K9/46 , G06K9/62 , G05D1/02 , G06F17/30 , G06F3/01 , G06T7/70 , G06T7/73
CPC分类号： G06K9/6212 , G05D1/0268 , G06F3/011 , G06F17/30247 , G06F17/30265 , G06F17/3087 , G06K9/46 , G06K9/6267 , G06T7/246 , G06T7/521 , G06T7/593 , G06T7/70 , G06T7/73
摘要： An electronic device reduces localization data based on feature characteristics identified from the data. Based on the feature characteristics, a quality value can be assigned to each identified feature, indicating the likelihood that the data associated with the feature will be useful in mapping a local environment of the electronic device. The localization data is reduced by removing data associated with features have a low quality value, and the reduced localization data is used to map the local environment of the device by locating features identified from the reduced localization data in a frame of reference for the electronic device.

8. 发明申请

US20170337749A1 SYSTEM AND METHOD FOR FAULT DETECTION AND RECOVERY FOR CONCURRENT ODOMETRY AND MAPPING 审中-公开
公开(公告)号：US20170337749A1
公开(公告)日：2017-11-23
申请号：US15597366
申请日：2017-05-17
申请人： Google Inc.
发明人： Esha Nerurkar , Sheng Zhao
IPC分类号： G06T19/20 , G06T17/05
CPC分类号： G06T19/20 , G06F3/011 , G06F3/017 , G06F3/038 , G06T17/05
摘要： An electronic device detects and recovers from fault conditions while tracking its motion and building a map of its environment. A front-end motion tracking module detects fault conditions while tracking motion over time and provides mapping data to a back-end mapping module. The front-end motion tracking module indicates to the back-end mapping module when a fault condition has been detected and when the fault condition is no longer detected. The back-end mapping module generates maps from the mapping data and merges the maps to build a three-dimensional representation of the environment. The back-end mapping module buffers or discards any mapping data received from the front-end motion tracking module during the existence of a fault condition. The back-end mapping module merges the maps generated based on mapping data received before and after the fault condition and adds the merged maps to the three-dimensional representation of the environment.

9. 发明申请

US20170336511A1 SYSTEM AND METHOD FOR CONCURRENT ODOMETRY AND MAPPING 审中-公开
公开(公告)号：US20170336511A1
公开(公告)日：2017-11-23
申请号：US15595617
申请日：2017-05-15
申请人： Google Inc.
发明人： Esha Nerurkar , Simon Lynen , Sheng Zhao
IPC分类号： G01S17/89 , H04N13/02 , G06T7/55 , H04N13/00 , G01S7/481
摘要： An electronic device tracks its motion in an environment while building a three-dimensional visual representation of the environment that is used to correct drift in the tracked motion. A motion tracking module estimates poses of the electronic device based on feature descriptors corresponding to the visual appearance of spatial features of objects in the environment. A mapping module builds a three-dimensional visual representation of the environment based on a stored plurality of maps, and feature descriptors and estimated device poses received from the motion tracking module. The mapping module provides the three-dimensional visual representation of the environment to a localization module, which identifies correspondences between stored and observed feature descriptors. The localization module performs a loop closure by minimizing the discrepancies between matching feature descriptors to compute a localized pose. The localized pose corrects drift in the estimated pose generated by the motion tracking module.

10. 发明申请

US20160335275A1 PRIVACY-SENSITIVE QUERY FOR LOCALIZATION AREA DESCRIPTION FILE 审中-公开
标题翻译：用于本地化区域描述文件的隐私检索
公开(公告)号：US20160335275A1
公开(公告)日：2016-11-17
申请号：US14708970
申请日：2015-05-11
申请人： Google Inc.
发明人： Brian Patrick Williams , Laurent Tu , Esha Nerurkar , Simon Lynen
IPC分类号： G06F17/30
CPC分类号： G06F16/9537 , G01S5/0252 , G01S5/16 , G06F16/13 , G06F16/148 , G06F16/24578 , G06T7/246 , G06T7/73 , H04W4/024 , H04W4/026 , H04W4/029 , H04W64/00
摘要： A computing system includes a datastore, a network interface, and a query module. The datastore stores a plurality of localization area description files. The network interface is to receive a request for a localization area description file from a mobile device, the request comprising a set of spatial features and at least one non-image location indicator. The query module includes a query interface to identify one or more candidate localization area description files based on one of the set of spatial features of the request and the at least one location indicator of the request, and includes a selection module to select a localization area description file from the candidate localization area description files based on the other of the set of spatial features of the request and the at least one location indicator. The query module is to provide the selected localization area description file to the mobile device.
摘要翻译：计算系统包括数据存储，网络接口和查询模块。数据存储存储多个定位区域描述文件。网络接口是从移动设备接收对定位区域描述文件的请求，该请求包括一组空间特征和至少一个非图像位置指示符。查询模块包括一个查询界面，用于根据请求的一组空间特征和请求的至少一个位置指示符来识别一个或多个候选定位区描述文件，并且包括选择模块以选择一个定位区域基于所述请求的所述一组空间特征和所述至少一个位置指示符中的另一个的来自候选定位区域描述文件的描述文件。查询模块是将选定的定位区域描述文件提供给移动设备。

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