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1. 发明申请

WO2012158441A1 INDOOR LOCALIZATION OF MOBILE DEVICES 审中-公开
标题翻译：移动设备的室内定位
公开(公告)号：WO2012158441A1
公开(公告)日：2012-11-22
申请号：PCT/US2012/037235
申请日：2012-05-10
申请人： GOOGLE INC. , THRUN, Sebastian , LOOKINGBILL, Andrew , KADOUS, Mohammed, Waleed
发明人： THRUN, Sebastian , LOOKINGBILL, Andrew , KADOUS, Mohammed, Waleed
IPC分类号： H04W64/00 , G01C21/18 , G01C22/00
CPC分类号： G01C21/206 , G01C21/16 , G01S19/49
摘要： Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More specifically, aspects relate to using a particle filter in conjunction with a gyroscope and/or accelerometer (166) to identify a current location of a client device (171) with respect to a map (300). In one example, the map may be based upon a map (300) including a series of walls 310-17 representing locations where a user may not walk within a building. In another example, the map may be based upon a series of rails (1340), (1350), (1360), (1370), (1380) representing locations where a user may walk within a building.
摘要翻译：本公开的方面通常涉及室内定位，例如，其中GPS或其他定位信号不可用的地方。更具体地，方面涉及使用与陀螺仪和/或加速度计（166）结合的粒子滤波器来识别相对于地图（300）的客户端设备（171）的当前位置。在一个示例中，地图可以基于包括表示用户不能在建筑物内行进的位置的一系列壁310-17的地图（300）。在另一示例中，地图可以基于表示用户可以在建筑物内行走的位置的一系列轨道（1340），（1350），（1360），（1370），（1380）。

2. 发明申请

WO2008121560A1 DISPLAYING AND NAVIGATING PANORAMIC VIDEO BROWSER-BASED APPLICATION 审中-公开
标题翻译：显示和导航全景视频浏览器的应用程序
公开(公告)号：WO2008121560A1
公开(公告)日：2008-10-09
申请号：PCT/US2008/057487
申请日：2008-03-19
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JR. UNIVERSITY , ARFVIDSSON, Joakim , DAHLKAMP, Hendrik , LOOKINGBILL, Andrew , THRUN, Sebastian
发明人： ARFVIDSSON, Joakim , DAHLKAMP, Hendrik , LOOKINGBILL, Andrew , THRUN, Sebastian
IPC分类号： H04N7/00 , H04N7/18 , H04N9/47
CPC分类号： G06F17/30899 , G06F17/30241 , G06F17/30817 , G06T19/00 , H04L65/4084
摘要： A method for providing panoramic videos and images to a user using a server-client architecture while minimizing the wait time necessary before still images are available for viewing or videos begin playing. A series of locationreferenced panoramic images are separated into one-dimensional tracks. Intuitive user controls are provided which allow the user to start and stop video playback, step through the panoramas in a track one at a time, and change the viewing orientation within the panorama. A video will start playing as soon as the video files for the preferred projected cube faces have been downloaded. This delay is reduced by storing the videos as keyframe distance files for opposing directions for each cube face and further reduced by encoding videos with different starting points so that they are staggered by a portion of the keyframe distance.
摘要翻译：一种使用服务器 - 客户端架构向用户提供全景视频和图像的方法，同时最小化静止图像可用于观看或视频开始播放之前所需的等待时间。一系列位置参考全景图像被分成一维轨迹。提供直观的用户控制，允许用户启动和停止视频播放，逐步遍历一个轨道中的全景，并改变全景中的观看方向。一旦下载了首选投影立方体面的视频文件，视频将开始播放。通过将视频存储为用于每个立方体面的相反方向的关键帧距离文件，并且通过对具有不同起始点的视频进行编码进一步减少，使得它们被关键帧距离的一部分交错而减小了该延迟。

3. 发明申请

WO2013082034A1 GRAPHICAL INTERFACE HAVING ADJUSTABLE BORDERS 审中-公开
标题翻译：具有可调节边界的图形界面
公开(公告)号：WO2013082034A1
公开(公告)日：2013-06-06
申请号：PCT/US2012/066660
申请日：2012-11-27
申请人： GOOGLE INC. , WHEELER, Aaron , CHI, Liang-yu , THRUN, Sebastian , RAFFLE, Hayes , PATEL, Nirmal
发明人： WHEELER, Aaron , CHI, Liang-yu , THRUN, Sebastian , RAFFLE, Hayes , PATEL, Nirmal
IPC分类号： G02B27/02 , G06F3/01
CPC分类号： G06F3/012 , G02B27/017 , G06F3/013 , G06F3/0481
摘要： Methods and systems involving navigation of a graphical interface are disclosed herein. An example system may be configured to: (a) cause a head-mounted display (HMD) to provide a graphical interface, the graphical interface comprising (i) a view port having a view-port orientation and (ii) at least one navigable area having at least one border, the at least one border having a first border orientation; (b) receive input data that indicates movement of the view port towards the at least one border; (c) determine that the view-port orientation is within a predetermined threshold distance from the first border orientation; and (d) based on at least the determination that the view-port orientation is within a predetermined threshold distance from the first border orientation, adjust the first border orientation from the first border orientation to a second border orientation.
摘要翻译：本文公开了涉及图形界面导航的方法和系统。示例性系统可以被配置为：（a）使得头戴式显示器（HMD）提供图形界面，所述图形界面包括（i）具有视图端口取向的视图端口和（ii）至少一个可导航的区域具有至少一个边框，所述至少一个边框具有第一边框方向; （b）接收指示所述视图端口朝向所述至少一个边界的移动的输入数据; （c）确定所述视图端口取向在距离所述第一边框方向的预定阈值距离内; 以及（d）至少基于所述视图端口取向在距离所述第一边框方向的预定阈值距离内的确定，将所述第一边框方向从所述第一边框方向调整到第二边框方向。

4. 发明申请

WO2011091099A1 TRAFFIC SIGNAL MAPPING AND DETECTION 审中-公开
标题翻译：交通信号的映射和检测
公开(公告)号：WO2011091099A1
公开(公告)日：2011-07-28
申请号：PCT/US2011/021797
申请日：2011-01-20
申请人： GOOGLE INC. , FAIRFIELD, Nathaniel , URMSON, Christopher , THRUN, Sebastian
发明人： FAIRFIELD, Nathaniel , URMSON, Christopher , THRUN, Sebastian
IPC分类号： G06K9/00
CPC分类号： G06K9/00825 , G05D1/0212 , G08G1/09623
摘要： A system and method provides maps identifying the 3D location of traffic lights. The position, location, and orientation of a traffic light may be automatically extrapolated from two or more images. The maps may then be used to assist robotic vehicles or human drivers to identify the location and status of a traffic signal (540).
摘要翻译：系统和方法提供了识别交通灯3D位置的地图。交通信号灯的位置，位置和方向可以从两个或更多个图像自动地外推。然后可以使用地图来帮助机器人车辆或人类驾驶员识别交通信号灯的位置和状态（540）。

5. 发明申请

WO2005060629A2 PROBABLE RECONSTRUCTION OF SURFACES IN OCCLUDED REGIONS BY COMPUTED SYMMETRY 审中-公开
标题翻译：通过计算对称可以重建区域内的表面
公开(公告)号：WO2005060629A2
公开(公告)日：2005-07-07
申请号：PCT/US2004/041554
申请日：2004-12-10
申请人： STRIDER LABS, INC. , THRUN, Sebastian , WEGBREIT, Eliot
发明人： THRUN, Sebastian , WEGBREIT, Eliot
IPC分类号： G06K9/52 , G06T15/40
CPC分类号： G01B21/20 , G06K9/52 , G06T7/55 , G06T7/68 , G06T2207/10012 , G06T2207/20116
摘要： A system for obtaining a probable 3D map of an occluded surface of an object is provided. The system receives an initial 3D map of a visible surface of the object and identifies one or more symmetries of the initial 3D map. The system computes the probable 3D map of the occluded surface by projecting points of the initial 3D map into occluded regions of space according to the identified symmetries. The system can also comprise an imager for obtaining the initial 3D map. The actual occluded surface cannot be known with absolute certainly because it is occluded; however, the computed 3D map will closely resemble the actual occluded surface in many instances because most objects possess one or more symmetries and the computed 3D map is based on such symmetries that are identified in the initial 3D map of the object.
摘要翻译：提供了一种用于获得物体的遮挡表面的可能的3D地图的系统。系统接收对象的可见表面的初始3D图，并识别初始3D图的一个或多个对称性。该系统根据所确定的对称性，将初始3D图的点投影到空间的闭塞区域中来计算遮挡表面的可能3D图。该系统还可以包括用于获得初始3D地图的成像器。实际的封闭表面绝对不能被绝对知道，因为它被遮挡; 然而，在许多情况下，计算的3D地图将与实际的遮挡表面非常相似，因为大多数物体具有一个或多个对称性，并且所计算的3D地图基于在对象的初始3D地图中识别的对称性。

6. 发明申请

WO2010124056A1 DETECTION OF TOPOLOGICAL STRUCTURE FROM SENSOR DATA WITH APPLICATION TO AUTONOMOUS DRIVING IN SEMI-STRUCTURED ENVIRONMENTS 审中-公开
标题翻译：传感器数据中的拓扑结构检测应用于半结构环境中的自动驱动
公开(公告)号：WO2010124056A1
公开(公告)日：2010-10-28
申请号：PCT/US2010/032003
申请日：2010-04-22
申请人： TOYOTA MOTOR ENGINEERING AND MANUFACTURING N.A. , DOLGOV, Dmitri, A. , THRUN, Sebastian
发明人： DOLGOV, Dmitri, A. , THRUN, Sebastian
IPC分类号： G05B15/00
CPC分类号： G01C21/20
摘要： A method of creating an obstacle-free diagram using topological sensor data to form a graph corresponding to a driving path, transforming the graph using discrete heuristics, locally smoothing a plurality of edges of the graph after the transforming, and globally smoothing the graph after the locally smoothing. Transforming includes deleting an edge of the graph, merging two intersections of the graph into a single intersection, and collapsing a plurality of edges forming a loop into a single edge. Locally smoothing includes smoothing a lane segment of the graph by minimizing a sum of a function of smoothness and a function of distance. Globally smoothing includes defining an intersection potential and minimizing a sum of the function of smoothness, the function of distance, a function of intersections and a function of direction.
摘要翻译：一种使用拓扑传感器数据形成与驱动路径对应的图形的无障碍图的方法，使用离散启发式变换图形，在变换之后对图形的多个边缘进行局部平滑化，并在图形之后进行全局平滑化局部平滑。变换包括删除图形的边缘，将图形的两个交集合并成单个交集，以及将形成循环的多个边缘折叠成单个边缘。局部平滑包括通过最小化平滑度函数和距离函数的和来平滑图形的通道段。全局平滑包括定义交点电位，并使平滑度函数，距离函数，交点函数和方向函数最小化。

7. 发明申请

WO2008076910A1 IMAGE MOSAICING SYSTEMS AND METHODS 审中-公开
标题翻译：图像迷宫系统和方法
公开(公告)号：WO2008076910A1
公开(公告)日：2008-06-26
申请号：PCT/US2007/087622
申请日：2007-12-14
申请人： THE BOARD OF TRUSTEES OF THE LELAND STANFORD JUNIOR UNIVERSITY , LOEWKE, Kevin, E. , CAMARILLO, David, B. , SALISBURY, J., Kenneth , THRUN, Sebastian
发明人： LOEWKE, Kevin, E. , CAMARILLO, David, B. , SALISBURY, J., Kenneth , THRUN, Sebastian
IPC分类号： G06K9/26
CPC分类号： G06K9/32 , G06K9/00134 , G06K2009/2045 , G06K2209/05 , G06K2209/40
摘要： Mosaicing methods and devices are implementing in a variety of manners. One such method is implemented for generation of a continuous image representation of an area from multiple images consecutively received from an image sensor. A location of a currently received image is indicated relative to the image sensor. A position of a currently received image relative to a set of previously received images is indicated with reference to the indicated location. The currently received image is compared to the set of previously received images as a function of the indicated position. Responsive to the comparison, adjustment information is indicated relative to the indicated position. The currently received image is merged with the set of previously received images to generate data representing a new set of images.
摘要翻译：镶嵌方法和装置以各种方式实施。实现一种这样的方法用于从连续从图像传感器接收的多个图像中产生区域的连续图像表示。相对于图像传感器指示当前接收到的图像的位置。参考所指示的位置来指示当前接收的图像相对于一组先前接收到的图像的位置。将当前接收到的图像与作为指示位置的函数的先前接收到的图像的集合进行比较。响应于比较，调整信息相对于指示位置被指示。当前接收到的图像与先前接收到的图像集合以产生表示新的图像集合的数据。

8. 发明申请

WO2013138174A1 LOCATION CORRECTION 审中-公开
标题翻译：位置校正
公开(公告)号：WO2013138174A1
公开(公告)日：2013-09-19
申请号：PCT/US2013/029836
申请日：2013-03-08
申请人： GOOGLE INC.
发明人： THRUN, Sebastian , KADOUS, Mohammed, Waleed
IPC分类号： G01S19/40 , G01S19/42 , G01S19/12
CPC分类号： G01C21/206
摘要： Aspects of the present disclosure relate generally to indoor localization, for example, where GPS or other localization signals are unavailable. More particularly, the estimated location, and in some examples the estimated heading, of a client device 171 may be displayed on a display 163 of the client device 171. As the device is moved through the indoor space, its location and/or orientation may be estimated based on measurements from one or more orientation devices 166. Typically, as the client device 171 moves through an indoor space, the location estimation may become less and less accurate. This may be addressed by allowing the user 191 to correct the current location and/or heading 820. The correction may be logged by the client device and transmitted to a server 110 for further processing.
摘要翻译：本公开的方面通常涉及室内定位，例如，GPS或其他定位信号不可用的地方。更具体地，可以在客户端设备171的显示器163上显示客户端设备171的估计位置，并且在一些示例中的估计标题。当设备移动通过室内空间时，其位置和/或定向可以可以基于来自一个或多个定向设备166的测量来估计。通常，当客户端设备171移动通过室内空间时，位置估计可能变得越来越不准确。这可以通过允许用户191来校正当前位置和/或标题820来解决。校正可以由客户端设备记录并发送到服务器110进行进一步处理。

9. 发明申请

WO2013109874A1 WEARABLE DEVICE WITH INPUT AND OUTPUT STRUCTURES 审中-公开
标题翻译：具有输入和输出结构的可穿戴设备
公开(公告)号：WO2013109874A1
公开(公告)日：2013-07-25
申请号：PCT/US2013/022124
申请日：2013-01-18
申请人： GOOGLE INC.
发明人： THRUN, Sebastian , OLSSON, Maj Isabelle , HEINRICH, Mitchell Joseph , THRUN, Sebastian , BRIN, Sergey
IPC分类号： G02B27/06 , G02B27/02
CPC分类号： G06F1/163 , G02B27/017 , G02B27/0176 , G02B2027/0178 , G06F1/1639 , G06F3/011 , G09G5/00 , G09G2380/02 , H04N13/344 , H04R1/105 , H04R5/0335 , H04R2201/103
摘要： An electronic device 410 includes a band 412 configured to be worn on the head of a user. The band has a central portion 430 and first and second temple portions 440 extending therefrom. The central portion is configured to contact a portion of the face of a user, and the temple portions are configured to contact portions of the head of the user near ears thereof. An operational unit 414 having a display 454 is affixed to the first temple portion and includes a housing 452 having an arm 476 defining a longitudinal axis. The housing also includes an elbow 450 portion defining a display end 458 that supports the display element such that it extends along a display axis angled with respect to the longitudinal axis and such that the display element is positionable over an eye of the user. Image generating means are disposed within the housing for generating an image presentable on the display element.
摘要翻译：电子设备410包括被配置为佩戴在用户头部上的波段412。带具有中心部分430和从其延伸的第一和第二神经部分440。中心部分被配置为接触使用者的脸部的一部分，并且镜腿部分构造成接触使用者头部的耳朵部分。具有显示器454的操作单元414固定到第一镜腿部分并且包括具有限定纵向轴线的臂476的壳体452。壳体还包括弯头450部分，其限定显示端458，其支撑显示元件，使得其沿着相对于纵向轴线成角度的显示轴线延伸，并且使得显示元件可定位在使用者的眼睛上方。图像产生装置设置在壳体内，用于产生可呈现在显示元件上的图像。

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