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1. 发明申请

WO2023028892A1 HIERARCHICAL SEGMENT-BASED MAP OPTIMIZATION FOR LOCALIZATION AND MAPPING SYSTEM 审中-公开
公开(公告)号：WO2023028892A1
公开(公告)日：2023-03-09
申请号：PCT/CN2021/115828
申请日：2021-08-31
申请人： INTEL CORPORATION , TIAN, Yuxin , SHI, Xuesong , WANG, Peng , WANG, Yujie
发明人： TIAN, Yuxin , SHI, Xuesong , WANG, Peng , WANG, Yujie
IPC分类号： G06T17/05
摘要： The disclosure provides techniques for map optimization for a localization and mapping system. The map optimization method includes segmenting, based on a preset segmentation condition, a trajectory tracked by the localization and mapping system to obtain a plurality of segments of the trajectory, each segment being partitioned into a head part, an interior part and a tail part; performing a global optimization process based on frames in the head and tail parts of each segment to obtain optimized mapping results for the frames in the head and tail parts of the segment; estimating optimized mapping results for frames in the interior part of each segment based on the optimized mapping results for the frames in the head and tail parts of the segment; and updating a map built by the localization and mapping system according to the optimized mapping results for the frames in each segment.

2. 发明申请

WO2022134060A1 CAMERA REGISTRATION VIA ROBOT 审中-公开
公开(公告)号：WO2022134060A1
公开(公告)日：2022-06-30
申请号：PCT/CN2020/139588
申请日：2020-12-25
申请人： INTEL CORPORATION , SHI, Xuesong , WANG, Yujie , WANG, Zhigang , WANG, Peng , WATTS, Robert
发明人： SHI, Xuesong , WANG, Yujie , WANG, Zhigang , WANG, Peng , WATTS, Robert
IPC分类号： G06T7/70
摘要： The disclosure provides techniques for registering a camera into a map via a robot. A method for registering a camera into a map may include: collecting an observation of a calibration marker from an image captured by the camera, the calibration maker being attached to a robot capable of moving in a view of the camera; calculating, for the observation of the calibration marker, a transform T (camera, marker) between a camera frame of the camera and a marker frame of the calibration marker; obtaining, for the observation of the calibration marker, a transform T (world, robot) between a world frame of the map and a robot frame of the robot; and performing, when more than a predetermined number of observations of the calibration marker are collected during movement of the robot, a calibration process to calculate a transform T(world, camera) between the world frame and the camera frame based on the transform T (camera, marker) and the transform T(world, robot) for each observation of the calibration marker.

3. 发明申请

WO2012167672A1 ONLINE REAL-TIME ACCOUNTING 审中-公开
标题翻译：在线实时会计
公开(公告)号：WO2012167672A1
公开(公告)日：2012-12-13
申请号：PCT/CN2012/074246
申请日：2012-04-18
申请人： HANGZHOU H3C TECHNOLOGIES CO., LTD. , WANG, Yujie
发明人： WANG, Yujie
IPC分类号： H04L12/14
CPC分类号： G06Q40/00 , H04L12/1403 , H04L12/1485 , H04M15/59 , H04M15/64
摘要： A method of real time accounting of an online user, comprising, in response to detecting that an accounting period of an online user has expired, transmitting an instant accounting request packet to a Network Access Server (NAS) with an accounting server, in response to receiving an accounting reset packet from the NAS and with the accounting server, performing an instant settlement for expenses of the user according to online usage information carried in the accounting reset packet, recording a result of the instant settlement in a bill of the accounting period that expired recently, restarting to perform accounting for the user from a next accounting period, and transmitting an accounting response packet to the NAS to cause the NAS to clear online usage information of the user and re-calculate the online usage of the user from the next accounting period.
摘要翻译：一种在线用户的实时计费方法，其特征在于，响应于检测到在线用户的计费期间已经到期，响应于所述计费服务器向所述网络接入服务器（NAS）发送即时计费请求分组从NAS和计费服务器接收计费复位报文，根据会计复位报文携带的在线使用情况，对用户的费用进行即时结算，将即时结算的结果记录在会计期间的账单中，过期，重新开始对下一个会计期间的用户进行计费，并向NAS发送计费响应数据包，使NAS清除用户的在线使用信息，并从下一次重新计算用户的在线使用情况会计期间

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