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11.发明申请公开(公告)号：US20180188384A1
公开(公告)日：2018-07-05
申请号：US15703588
申请日：2017-09-13
Applicant: QUALCOMM Incorporated
Inventor： Arvind Ramanandan , Murali Chari , Yiming Chen , Avdhut Joshi , John Steven Lima
Abstract: 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.
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公开(公告)号：US09405972B2
公开(公告)日：2016-08-02
申请号：US14497235
申请日：2014-09-25
Applicant: QUALCOMM Incorporated
Inventor： Mark Leo Moeglein , Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
IPC: G01S1/00 , G06K9/00 , G06T7/60 , H04W4/02 , H04W4/04 , G01C21/00 , G01S19/13 , G06T7/20 , G01C21/20 , G06T7/00 , G01C21/16 , G01C25/00 , G01S5/02 , G01S5/16
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 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.
Abstract translation: 所公开的实施例涉及使用用户设备（UE），用于基于所捕获的图像和与每个捕捉的图像相关联的测量集合来生成结构的3D外部包络。 在一些实施例中，捕获结构的外部图像的序列，并且包括惯性测量单元（IMU）测量，无线测量（包括全球导航卫星（GNSS）测量））和/或其他非无线传感器测量的对应测量集可以 同时获得。 可以确定UE在全局坐标中的闭环轨迹，并且可以基于从结构的外部图像的序列中选择的图像子集中的闭环轨迹和特征点来获得结构的3D结构包络。
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公开(公告)号：US09400930B2
公开(公告)日：2016-07-26
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: H04W4/02 , H04W4/04 , G06K9/00 , G06T7/60 , G01C21/00 , G01S19/13 , G06T7/20 , G01C21/20 , G06T7/00 , G01C21/16 , G01C25/00 , G01S5/02 , G01S5/16
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 。
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14.发明授权公开(公告)号：US10371530B2
公开(公告)日：2019-08-06
申请号：US15703483
申请日：2017-09-13
Applicant: QUALCOMM Incorporated
Inventor： Arvind Ramanandan , Murali Chari , Avdhut Joshi
Abstract: 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.
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15.发明授权公开(公告)号：US10267924B2
公开(公告)日：2019-04-23
申请号：US15703588
申请日：2017-09-13
Applicant: QUALCOMM Incorporated
Inventor： Arvind Ramanandan , Murali Chari , Yiming Chen , Avdhut Joshi , John Steven Lima
Abstract: 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.
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Patent Agency Ranking
16.发明申请公开(公告)号：US20180188032A1
公开(公告)日：2018-07-05
申请号：US15703483
申请日：2017-09-13
Applicant: QUALCOMM Incorporated
Inventor： Arvind Ramanandan , Murali Chari , Avdhut Joshi
CPC classification number: G01C21/165 , G01S19/49 , G01S19/52 , G01S19/53
Abstract: 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.
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公开(公告)号：US09947100B2
公开(公告)日：2018-04-17
申请号：US15195921
申请日：2016-06-28
Applicant: QUALCOMM Incorporated
Inventor： Mark Leo Moeglein , Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
IPC: 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 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 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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公开(公告)号：US20160307328A1
公开(公告)日：2016-10-20
申请号：US15195921
申请日：2016-06-28
Applicant: QUALCOMM Incorporated
Inventor： Mark Leo Moeglein , Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
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 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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公开(公告)号：US09159133B2
公开(公告)日：2015-10-13
申请号：US14014174
申请日：2013-08-29
Applicant: QUALCOMM Incorporated
CPC classification number: G06T7/004 , G06T7/70 , G06T7/74 , G06T2207/30244
Abstract: Systems, apparatus and methods for estimating gravity and/or scale in a mobile device are presented. A difference between an image-based pose and an inertia-based pose is using to update the estimations of gravity and/or scale. The image-based pose is computed from two poses and is scaled with the estimation of scale prior to the difference. The inertia-based pose is computed from accelerometer measurements, which are adjusted by the estimation for gravity.
Abstract translation: 提出了用于估计移动设备中的重力和/或尺度的系统，装置和方法。 基于图像的姿势和基于惯性的姿势之间的差异正在用于更新重力和/或尺度的估计。 基于图像的姿势由两个姿态计算，并且在差异之前用缩放比例缩放。 基于惯性的姿态由加速度计测量计算，通过重力估计进行调整。
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20.发明申请Off-Target Tracking Using Feature Aiding in the Context of Inertial Navigation 审中-公开使用功能辅助在惯性导航的背景下的非目标跟踪公开(公告)号：US20150092048A1
公开(公告)日：2015-04-02
申请号：US14497117
申请日：2014-09-25
Applicant: QUALCOMM Incorporated
Inventor： Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
CPC classification number: G06T7/248 , G01C21/165 , G01C25/005 , G01S5/0263 , G01S5/0294 , G01S5/16 , G01S5/163 , G01S19/14 , G06K9/00671 , G06T7/579 , G06T7/80 , G06T2207/10016 , G06T2207/30244 , H04M2250/12 , H04M2250/52 , H04W4/021 , H04W4/029 , H04W4/33
Abstract: A Visual Inertial Tracker (VIT), such as a Simultaneous Localization And Mapping (SLAM) system based on an Extended Kalman Filter (EKF) framework (EKF-SLAM) can provide drift correction in calculations of a pose (translation and orientation) of a mobile device by obtaining location information regarding a target, obtaining an image of the target, estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, and correcting a pose determination of the mobile device using an EKF, based, at least in part, on the measurements relating to the pose of the mobile device.
Abstract translation: 视觉惯性跟踪器（VIT），例如基于扩展卡尔曼滤波器（EKF-SLAM）的同时定位和映射（SLAM）系统，可以在计算一个姿势（平移和定向）时提供漂移校正 通过获取关于目标的位置信息，获得目标图像，基于所述图像和位置信息，从所述目标图像估计与所述移动装置的姿势有关的测量值，以及校正所述移动装置的姿势确定 至少部分地基于与移动设备的姿态有关的测量的使用EKF的移动设备。
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