公开(公告)号：US11340615B2

公开(公告)日：2022-05-24

申请号：US16641730

申请日：2017-10-06

Applicant: QUALCOMM Incorporated

Inventor： Xiaohui Liu ,  Yibo Jiang ,  Yanming Zou ,  Lei Xu ,  Jiangtao Ren

IPC: G01C21/20 ,  G05D1/02 ,  G06T7/73

Abstract: Various embodiments include processing devices and methods for relocation and reinitialization for a robotic device. Various embodiments may include concurrently relocating a second pose of the robotic device and reinitializing a third pose of the robotic device in response to failing to determine a first pose of the robotic device in the environment and determining that tracking of the robotic device is lost. Various embodiments may include pre-relocating a second pose of the robotic device in the environment in response to failing to determine the first pose of the robotic device in the environment and determining that tracking of the robotic device is lost, relocating a third pose of the robotic device in response to successfully pre-relocating the second pose of the robotic device, and reinitializing a fourth pose of the robotic device in response to unsuccessfully pre-relocating the second pose of the robotic device.

公开(公告)号：US10917561B2

公开(公告)日：2021-02-09

申请号：US16331912

申请日：2016-09-23

Applicant: QUALCOMM Incorporated

Inventor： Yin Huang ,  Jiangtao Ren ,  Xiaoyi Zhu ,  Liang Zhang ,  Ruowei Wang

IPC: H04N5/232 ,  B64C39/02 ,  G06T3/60 ,  G06T7/70 ,  G06T5/00 ,  B64D47/08 ,  G06T7/246 ,  G06K9/32 ,  G06K9/00

Abstract: Embodiments include devices and methods for processing an image captured by an image sensor of an unmanned autonomous vehicle (UAV). A processor of the UAV may determine a body coordinate matrix of the UAV. The processor may determine an estimated rotation of the image sensor of the UAV. The processor may determine an estimated rotation of the UAV. The processor may transform an image captured by the image sensor based on the body coordinate matrix, the estimated rotation of the image sensor, and the estimated rotation of the UAV.

公开(公告)号：US11720100B2

公开(公告)日：2023-08-08

申请号：US16621518

申请日：2018-03-14

Applicant: QUALCOMM Incorporated

Inventor： Xiaohui Liu ,  Yibo Jiang ,  Jiangtao Ren ,  Lei Xu ,  Yanming Zou

IPC: G05D1/00 ,  G06T7/521 ,  G06T7/70 ,  G05B19/4155 ,  G06T1/00 ,  G07C5/04 ,  G07C5/08 ,  G01S19/49 ,  G05D1/02 ,  G01S19/48

CPC classification number: G05D1/0088 ,  G05B19/4155 ,  G06T1/0014 ,  G06T7/521 ,  G06T7/70 ,  G07C5/04 ,  G07C5/085 ,  G07C5/0808 ,  G01S19/485 ,  G01S19/49 ,  G05B2219/50391 ,  G05D1/027 ,  G05D1/0231 ,  G06T2207/10028 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: Various embodiments include methods for improving navigation by a processor of a robotic device. Such embodiments may include initiating a start of a predetermined time period associated with semantic information extraction, and determining whether an adverse event related to one or more sensors of the robotic device is detected. Such embodiments may also include identifying a current time slot of the predetermined time period, identifying a current estimated position and orientation of the robotic device, and recording updates to semantic information stored for the one or more sensor based on the identified current time slot and the current estimated position and orientation of the robotic device in response to determining that an adverse event related to one or more sensors of the robotic device is detected.

公开(公告)号：US11080890B2

公开(公告)日：2021-08-03

申请号：US16621392

申请日：2017-07-28

Applicant: QUALCOMM Incorporated

Inventor： Xiaohui Liu ,  Yibo Jiang ,  Lei Xu ,  Jiangtao Ren ,  Yanming Zou

IPC: G06T7/73 ,  G06T7/60 ,  G05D1/00 ,  G05D1/02 ,  H04N5/232 ,  B60R11/04 ,  B60R11/00

Abstract: Various embodiments include processing devices and methods for initializing an image sensor of a robotic vehicle. In some embodiments, a processor of the robotic vehicle may extract first features from a captured image of the target image, may extract second features from a predefined image pyramid of the target image, may match first features and second features, and may estimate an image sensor pose based on matched features and known dimensions of the target image. In some embodiments, the processor may estimate an image or to image sensor pose based on matched features and a translation and/or rotation of the robotic vehicle. In some embodiments, the processor may determine a coordinate system for the robotic vehicle based on one or more image sensor poses.