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1. 发明授权

US10846541B2 Systems and methods for classifying road features 有权
公开(公告)号：US10846541B2
公开(公告)日：2020-11-24
申请号：US15629311
申请日：2017-06-21
申请人： QUALCOMM Incorporated
发明人： Avdhut Joshi , Arvind Ramanandan , Murali Chari
IPC分类号： G01C21/16 , G01C22/00 , G06K9/00 , G01B11/30 , G06K9/62
CPC分类号： G06K9/00798 , G01B11/30 , G01C21/165 , G01C22/00 , G06K9/6267 , G06T2207/30244
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.

2. 发明授权

US09965689B2 Geometric matching in visual navigation systems 有权
公开(公告)号：US09965689B2
公开(公告)日：2018-05-08
申请号：US15178505
申请日：2016-06-09
申请人： QUALCOMM Incorporated
发明人： Paulo Ricardo dos Santos Mendonca , Christopher Brunner , Arvind Ramanandan , Murali Ramaswamy Chari , Dheeraj Ahuja
IPC分类号： G06K9/00 , G01C21/00 , G06K9/62 , G06T7/20 , G06T7/30 , G01C21/16 , G01S19/42
CPC分类号： G06K9/00791 , G01C21/00 , G01C21/165 , G01S19/42 , G06K9/00 , G06K9/00664 , G06K9/6201 , G06K9/6211 , G06T7/20 , G06T7/30 , G06T2200/04 , G06T2207/30244
摘要： A first map comprising local features and 3D locations of the local features is generated, the local features comprising visible features in a current image and a corresponding set of covisible features. A second map comprising prior features and 3D locations of the prior features may be determined, where each prior feature: was first imaged at a time prior to the first imaging of any of the local features, and lies within a threshold distance of at least one local feature. A first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map is determined by comparing the first and second maps, where each local feature in the first subset corresponds to a distinct prior feature in the second subset. A transformation mapping a subset of local features to a subset of prior features is determined.

3. 发明申请

US20150094089A1 HYBRID PHOTO NAVIGATION AND MAPPING 有权
标题翻译：混合照片导航和映射
公开(公告)号：US20150094089A1
公开(公告)日：2015-04-02
申请号：US14497219
申请日：2014-09-25
申请人： QUALCOMM Incorporated
发明人： Mark Leo Moeglein , Christopher Brunner , Hui Chao , Murali Ramaswamy Chari , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi
IPC分类号： H04W4/04 , H04W4/02
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该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。

4. 发明申请

US20140176418A1 DISPLAY OF SEPARATE COMPUTER VISION BASED POSE AND INERTIAL SENSOR BASED POSE 审中-公开
标题翻译：基于独立计算机视觉的显示和基于传统的基于传感器的POSE
公开(公告)号：US20140176418A1
公开(公告)日：2014-06-26
申请号：US13725175
申请日：2012-12-21
申请人： QUALCOMM INCORPORATED
发明人： Mahesh Ramachandran , Christopher Brunner , Arvind Ramanandan , Serafin Diaz Spindola , Murali Ramaswamy Chari
IPC分类号： G06F3/01
摘要： A mobile device determines a vision based pose using images captured by a camera and determines a sensor based pose using data from inertial sensors, such as accelerometers and gyroscopes. The vision based pose and sensor based pose are used separately in a visualization application, which displays separate graphics for the different poses. For example, the visualization application may be used to calibrate the inertial sensors, where the visualization application displays a graphic based on the vision based pose and a graphic based on the sensor based pose and prompts a user to move the mobile device in a specific direction with the displayed graphics to accelerate convergence of the calibration of the inertial sensors. Alternatively, the visualization application may be a motion based game or a photography application that displays separate graphics using the vision based pose and the sensor based pose.
摘要翻译：移动设备使用由摄像机拍摄的图像来确定基于视觉的姿势，并且使用来自诸如加速度计和陀螺仪的惯性传感器的数据来确定基于传感器的姿态。基于视觉的姿势和基于传感器的姿势在可视化应用程序中单独使用，可视化应用程序显示不同姿态的单独图形。例如，可视化应用程序可用于校准惯性传感器，其中可视化应用程序基于基于视觉的姿态显示图形和基于基于传感器的姿态的图形，并且提示用户将特定方向移动移动设备具有显示的图形以加速惯性传感器校准的收敛。或者，可视化应用可以是基于运动的游戏或摄影应用，其使用基于视觉的姿势和基于传感器的姿势来显示单独的图形。

5. 发明申请

US20140129170A1 METHOD FOR ALIGNING A MOBILE DEVICE SURFACE WITH THE COORDINATE SYSTEM OF A SENSOR 有权
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：US20140129170A1
公开(公告)日：2014-05-08
申请号：US13767838
申请日：2013-02-14
申请人： QUALCOMM INCORPORATED
发明人： Mahesh Ramachandran , Arvind Ramanandan , Christopher Brunner , Murali Ramaswamy Chari
IPC分类号： G01P21/00
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。

6. 发明授权

US10371530B2 Systems and methods for using a global positioning system velocity in visual-inertial odometry 有权
公开(公告)号：US10371530B2
公开(公告)日：2019-08-06
申请号：US15703483
申请日：2017-09-13
申请人： QUALCOMM Incorporated
发明人： Arvind Ramanandan , Murali Chari , Avdhut Joshi
IPC分类号： G01C21/10 , G01C21/16 , G01S19/52 , G01S19/49 , G01S19/53
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. 发明授权

US10267924B2 Systems and methods for using a sliding window of global positioning epochs in visual-inertial odometry 有权
公开(公告)号：US10267924B2
公开(公告)日：2019-04-23
申请号：US15703588
申请日：2017-09-13
申请人： QUALCOMM Incorporated
发明人： Arvind Ramanandan , Murali Chari , Yiming Chen , Avdhut Joshi , John Steven Lima
IPC分类号： G01S11/12 , G01S19/45 , 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.

8. 发明申请

US20180188032A1 SYSTEMS AND METHODS FOR USING A GLOBAL POSITIONING SYSTEM VELOCITY IN VISUAL-INERTIAL ODOMETRY 审中-公开
公开(公告)号：US20180188032A1
公开(公告)日：2018-07-05
申请号：US15703483
申请日：2017-09-13
申请人： QUALCOMM Incorporated
发明人： Arvind Ramanandan , Murali Chari , Avdhut Joshi
IPC分类号： G01C21/16 , G01S19/52
CPC分类号： G01C21/165 , G01S19/49 , G01S19/52 , G01S19/53
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.

9. 发明授权

US09947100B2 Exterior hybrid photo mapping 有权
公开(公告)号：US09947100B2
公开(公告)日：2018-04-17
申请号：US15195921
申请日：2016-06-28
申请人： QUALCOMM Incorporated
发明人： Mark Leo Moeglein , Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
IPC分类号： G01C21/16 , G06T7/00 , G06K9/00 , G06T7/60 , H04W4/02 , H04W4/04 , G01C21/00 , G01S19/13 , G01C21/20 , G01S5/02 , G01S5/16 , G01C25/00 , G01S19/14 , G06T7/80 , G06T7/579 , G06T7/246
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.

10. 发明申请

US20160307328A1 EXTERIOR HYBRID PHOTO MAPPING 有权
公开(公告)号：US20160307328A1
公开(公告)日：2016-10-20
申请号：US15195921
申请日：2016-06-28
申请人： QUALCOMM Incorporated
发明人： Mark Leo Moeglein , Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
IPC分类号： G06T7/00 , G01S19/14 , G06T7/20
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.

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