公开(公告)号：US09965689B2

公开(公告)日：2018-05-08

申请号：US15178505

申请日：2016-06-09

Applicant: QUALCOMM Incorporated

Inventor： Paulo Ricardo dos Santos Mendonca ,  Christopher Brunner ,  Arvind Ramanandan ,  Murali Ramaswamy Chari ,  Dheeraj Ahuja

IPC: G06K9/00 ,  G01C21/00 ,  G06K9/62 ,  G06T7/20 ,  G06T7/30 ,  G01C21/16 ,  G01S19/42

CPC classification number: G06K9/00791 ,  G01C21/00 ,  G01C21/165 ,  G01S19/42 ,  G06K9/00 ,  G06K9/00664 ,  G06K9/6201 ,  G06K9/6211 ,  G06T7/20 ,  G06T7/30 ,  G06T2200/04 ,  G06T2207/30244

Abstract: 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.

公开(公告)号：US20150094089A1

公开(公告)日：2015-04-02

申请号：US14497219

申请日：2014-09-25

Applicant: QUALCOMM Incorporated

Inventor： Mark Leo Moeglein ,  Christopher Brunner ,  Hui Chao ,  Murali Ramaswamy Chari ,  Arvind Ramanandan ,  Mahesh Ramachandran ,  Abhishek Tyagi

IPC: H04W4/04 ,  H04W4/02

CPC classification number: 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

Abstract: 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.

Abstract translation: 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 。

公开(公告)号：US20140176418A1

公开(公告)日：2014-06-26

申请号：US13725175

申请日：2012-12-21

Applicant: QUALCOMM INCORPORATED

Inventor： Mahesh Ramachandran ,  Christopher Brunner ,  Arvind Ramanandan ,  Serafin Diaz Spindola ,  Murali Ramaswamy Chari

IPC: G06F3/01

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20140129170A1

公开(公告)日：2014-05-08

申请号：US13767838

申请日：2013-02-14

Applicant: QUALCOMM INCORPORATED

Inventor： Mahesh Ramachandran ,  Arvind Ramanandan ,  Christopher Brunner ,  Murali Ramaswamy Chari

IPC: G01P21/00

CPC classification number: G01P21/00 ,  G01C25/00 ,  G01C25/005

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US10444845B2

公开(公告)日：2019-10-15

申请号：US13725175

申请日：2012-12-21

Applicant: QUALCOMM Incorporated

Inventor： Mahesh Ramachandran ,  Christopher Brunner ,  Arvind Ramanandan ,  Serafin Diaz Spindola ,  Murali Ramaswamy Chari

IPC: G06F3/01 ,  G01C21/16 ,  G01C25/00 ,  G06F3/0487 ,  G06F3/0346 ,  G06T7/80 ,  G06T7/73 ,  G06F3/03

Abstract: 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.

公开(公告)号：US20180189576A1

公开(公告)日：2018-07-05

申请号：US15629311

申请日：2017-06-21

Applicant: QUALCOMM Incorporated

Inventor： Avdhut Joshi ,  Arvind Ramanandan ,  Murali Chari

IPC: G06K9/00 ,  G01B11/30 ,  G06K9/62

CPC classification number: G06K9/00798 ,  G01B11/30 ,  G01C21/165 ,  G01C22/00 ,  G06K9/6267 ,  G06T2207/30244

Abstract: 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.

公开(公告)号：US20170357858A1

公开(公告)日：2017-12-14

申请号：US15178505

申请日：2016-06-09

Applicant: QUALCOMM Incorporated

Inventor： Paulo Mendonca ,  Christopher Brunner ,  Arvind Ramanandan ,  Murali Ramaswamy Chari ,  Dheeraj Ahuja

IPC: G06K9/00 ,  G06T7/20 ,  G06K9/62 ,  G01C21/00 ,  G01C21/16 ,  G01S19/42

CPC classification number: G06K9/00791 ,  G01C21/00 ,  G01C21/165 ,  G01S19/42 ,  G06K9/00 ,  G06K9/00664 ,  G06K9/6201 ,  G06K9/6211 ,  G06T7/20 ,  G06T7/30 ,  G06T2200/04 ,  G06T2207/30244

Abstract: 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.

公开(公告)号：US09714955B2

公开(公告)日：2017-07-25

申请号：US13767838

申请日：2013-02-14

Applicant: QUALCOMM Incorporated

Inventor： Mahesh Ramachandran ,  Arvind Ramanandan ,  Christopher Brunner ,  Murali Ramaswamy Chari

IPC: G01P21/00 ,  G01C25/00

CPC classification number: G01P21/00 ,  G01C25/00 ,  G01C25/005

Abstract: 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.

公开(公告)号：US20140129176A1

公开(公告)日：2014-05-08

申请号：US13767784

申请日：2013-02-14

Applicant: QUALCOMM INCORPORATED

Inventor： Arvind Ramanandan ,  Mahesh Ramachandran ,  Christopher Brunner ,  Murali Ramaswamy Chari

IPC: G01P13/02

CPC classification number: G01P13/02 ,  G01C21/10 ,  G01C25/005 ,  G06F1/1694 ,  G06F3/0346

Abstract: An accelerometer located within a mobile device is used to estimate a gravity vector on a target plane in a world coordinate system. The accelerometer makes multiple measurements, each measurement being taken when the mobile device is held stationary on the target plane and a surface of the mobile device faces and is in contact with a planar portion of the target plane. An average of the measurements is calculated. A rotational transformation between an accelerometer coordinate system and a mobile device's coordinate system is retrieved from a memory in the mobile device, where the mobile device's coordinate system is aligned with the surface of the mobile device. The rotational transformation is applied to the averaged measurements to obtain an estimated gravity vector in a world coordinate system defined by the target plane.

Abstract translation: 位于移动设备内的加速度计用于估计世界坐标系中目标平面上的重力矢量。 加速度计进行多次测量，当移动设备在目标平面上保持静止并且移动设备的表面面对并且与目标平面的平面部分接触时，进行每次测量。 计算平均值。 在移动设备中的存储器中检索加速度计坐标系和移动设备的坐标系之间的旋转变换，其中移动设备的坐标系与移动设备的表面对齐。 将旋转变换应用于平均测量值，以获得由目标平面定义的世界坐标系中的估计重力矢量。

公开(公告)号：US20180335525A1

公开(公告)日：2018-11-22

申请号：US15599712

申请日：2017-05-19

Applicant: QUALCOMM Incorporated

Inventor： Urs Niesen ,  Arvind Ramanandan

IPC: G01S19/45 ,  G01C21/36 ,  H04B7/185 ,  G06K9/00

CPC classification number: G01S19/28 ,  G01S19/22

Abstract: Techniques provided herein are directed toward using a camera, such as a forward-facing camera, to identify non-line-of-sight (NLoS) satellites in a satellite positioning system. In particular, successive images captured by the camera of the vehicle can be used to create a three-dimensional (3-D) skyline model of one or more objects that may be obstructing the view of a satellite (from the perspective of the vehicle). Accordingly, this allows for the determination of NLoS satellites and exclusion of data from the NLoS satellites in the determination of the location of the vehicle. Techniques may further include providing the determined location of the vehicle.