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    OUTLIER DETECTION FOR SATELLITE POSITIONING SYSTEM USING VISUAL INERTIAL ODOMETRY
    12.
    发明申请
    OUTLIER DETECTION FOR SATELLITE POSITIONING SYSTEM USING VISUAL INERTIAL ODOMETRY 审中-公开

    公开(公告)号：US20170219716A1

    公开(公告)日：2017-08-03

    申请号：US15014009

    申请日：2016-02-03

    Applicant: QUALCOMM Incorporated

    Inventor： Urs NIESEN ,  Venkatesan NALLAMPATTI EKAMBARAM ,  Lionel Jacques GARIN ,  Jubin JOSE ,  Xinzhou WU

    IPC: G01S19/52 ,  G01S19/42

    CPC classification number: G01S19/47 ,  G01C21/165 ,  G01S5/163 ,  G01S19/22 ,  G01S19/426

    Abstract: A method of determining a position of a mobile platform includes obtaining a plurality of pseudorange measurements from multiple time epochs of a satellite navigation system (SPS) and obtaining a plurality of visual-inertial odometry (VIO) velocity measurements from a VIO system. Each time epoch of the SPS includes at least one pseudorange measurement corresponding to a first satellite and at least one pseudorange measurement corresponding to a second satellite. The method also includes combining the plurality of pseudorange measurements with the plurality of VIO velocity measurements to identify one or more outlier pseudorange measurements in the plurality of pseudorange measurements. The one or more outlier pseudorange measurements are then discarded from the plurality of pseudorange measurements to generate a remaining plurality of pseudorange measurements. The position of the mobile platform is then computed based on the remaining plurality of pseudorange measurements and the plurality of VIO velocity measurements.

    CLOUD-BASED VIRTUAL VIEW FOR VEHICLE-TO-VEHICLE (V2V) APPLICATIONS
    14.
    发明申请
    CLOUD-BASED VIRTUAL VIEW FOR VEHICLE-TO-VEHICLE (V2V) APPLICATIONS 有权

    公开(公告)号：US20240394931A1

    公开(公告)日：2024-11-28

    申请号：US18323252

    申请日：2023-05-24

    Applicant: QUALCOMM Incorporated

    Inventor： Anantharaman BALASUBRAMANIAN ,  Kapil GULATI ,  Dan VASSILOVSKI ,  Jubin JOSE

    IPC: G06T11/00 ,  B60R1/28 ,  G06T3/40 ,  G06T7/33 ,  G06V10/75

    Abstract: Disclosed are systems and techniques for wireless communications. For example, a device can receive, from a first vehicle, a view request for a visual view of a region of interest (ROI). The device can transmit a request for key points and feature descriptors related to a view of the first vehicle and respective view(s) of the other vehicle(s), and can match the key points/feature descriptors related to the other vehicle(s) and the first vehicle. The device can determine, based on the matching, at least one vehicle to provide at least one ROI view of the ROI and determine at least one mapping between the at least one vehicle and the first vehicle, which can be used to combine the at least one ROI view of the at least one vehicle with the view of the first vehicle to generate a combined image having the visual view of the ROI.

    NON-SEMANTIC MAP LAYER IN CROWDSOURCED MAPS
    15.
    发明公开
    NON-SEMANTIC MAP LAYER IN CROWDSOURCED MAPS 审中-公开

    公开(公告)号：US20240219199A1

    公开(公告)日：2024-07-04

    申请号：US18512780

    申请日：2023-11-17

    Applicant: QUALCOMM Incorporated

    Inventor： Mandar Narsinh KULKARNI ,  Muryong KIM ,  Jubin JOSE

    IPC: G01C21/00

    CPC classification number: G01C21/3848 ,  G01C21/3841 ,  G01C21/3878

    Abstract: Techniques and systems are provided for vehicle localization. For instance, a process can include obtaining a point corresponding to a target in an environment, the point indicating a location of the target in the environment, and wherein the point is a non-semantic point for use with a non-semantic layer (NSL) of a map, obtaining pose information indicating a heading of a vehicle, generating a map point based on a quantization of the obtained point, and outputting the generated map point to a map server. For another instance, a process can include obtaining a NSL of a map of an environment, the NSL including a map point corresponding to a target in the environment, wherein the point is a non-semantic point; determining, based on a comparison between the pose information and the heading information, that the target is relevant to the vehicle; and transmitting the map point to the vehicle.

    ESTIMATING RELATIVE POSE LEVERAGING LANE MARKERS
    16.
    发明公开
    ESTIMATING RELATIVE POSE LEVERAGING LANE MARKERS 审中-公开

    公开(公告)号：US20240202965A1

    公开(公告)日：2024-06-20

    申请号：US18082860

    申请日：2022-12-16

    Applicant: QUALCOMM Incorporated

    Inventor： Anantharaman BALASUBRAMANIAN ,  Kapil GULATI ,  Jubin JOSE

    IPC: G06T7/73 ,  G06V10/77 ,  G06V20/58

    CPC classification number: G06T7/73 ,  G06V10/7715 ,  G06V20/58 ,  G06T2207/30256

    Abstract: Aspects relate to techniques for estimating relative pose leveraging lane markers. A first wireless communication device may receive a message from a second wireless communication device including a plurality of visual features (e.g., keypoints) of an image captured by the second wireless communication device, lane features identifying two (or more) traffic lane markers, and respective two-point two-line (2L2P) metrics for pairs of keypoints based on the traffic lane markers. The first wireless communication device may then obtain additional features from an additional image captured by the first wireless communication device and identify matching keypoints of the additional features for which the respective 2L2P metrics are satisfied. The first wireless communication device may then calculate a relative pose of the first wireless communication device with respect to the second wireless communication device based on the matching features.

    RADAR MAP LAYER IN A CROWDSOURCED HD MAP
    17.
    发明公开
    RADAR MAP LAYER IN A CROWDSOURCED HD MAP 审中-公开

    公开(公告)号：US20230324543A1

    公开(公告)日：2023-10-12

    申请号：US17658619

    申请日：2022-04-08

    Applicant: QUALCOMM Incorporated

    Inventor： Mandar Narsinh KULKARNI ,  Jubin JOSE ,  Muryong KIM

    IPC: G01S13/89 ,  G01S13/58 ,  G06K9/62

    CPC classification number: G01S13/89 ,  G01S13/581 ,  G06K9/6284 ,  G06K9/6218

    Abstract: Creating and updating an accurate radar map layer for HD map using crowdsourcing may comprise a vehicle obtaining radar data and filtering the radar data on a frame-by-frame basis. In some embodiments, additional filtering may be made on a batch of frames. The vehicle can then transmit the filtered radar data responsive to a determination that a confidence of a position estimate of the vehicle exceeds a conference threshold level and/or a determination that a reliance of the position estimate of the vehicle on the radar data exceeds a reliance threshold level.

    DISTRIBUTION OF CLOCK DRIFT INFORMATION AMONG WIRELESS DEVICES
    19.
    发明申请
    DISTRIBUTION OF CLOCK DRIFT INFORMATION AMONG WIRELESS DEVICES 审中-公开
    在无线设备上分发时钟信息

    公开(公告)号：US20160277888A1

    公开(公告)日：2016-09-22

    申请号：US14751480

    申请日：2015-06-26

    Applicant: QUALCOMM Incorporated

    Inventor： Urs NIESEN ,  Venkatesan NALLAMPATTI EKAMBARAM ,  Jubin JOSE ,  Xinzhou WU

    IPC: H04W4/02 ,  H04L12/26

    CPC classification number: H04W4/023 ,  G01S13/765 ,  H04L43/0852 ,  H04W56/002

    Abstract: Clock drift for range estimation between a first wireless device and a second wireless device is determine before such estimation, while acceptable communication between the first device and the second device is unavailable. While acceptable communication is unavailable, a relative clock drift Δ01 between a relative wireless device and the first device is obtained by the second device; a relative clock drift Δ20 between the second device and the relative wireless device is determined; and a relative clock drift Δ21 between the second device and the first device is estimated based on the relative clock drift Δ01 and the relative clock drift Δ20. Once acceptable communication is available, a distance between the first device and the second device is estimated based on the relative clock drift Δ21.

    Abstract translation: 在这种估计之前确定第一无线设备和第二无线设备之间的距离估计的时钟漂移，而第一设备和第二设备之间可接受的通信是不可用的。 虽然可接受的通信不可用，但通过第二设备获得相对无线设备与第一设备之间的相对时钟漂移Δ01; 确定第二装置和相对无线装置之间的相对时钟漂移Δ20; 并且基于相对时钟漂移Δ01和相对时钟漂移Δ20来估计第二装置和第一装置之间的相对时钟漂移Δ21。 一旦可接受的通信可用，基于相对时钟漂移Δ21来估计第一设备和第二设备之间的距离。

    TECHNIQUES FOR USE IN WIDEBAND TIME-OF-ARRIVAL ESTIMATION
    20.
    发明申请
    TECHNIQUES FOR USE IN WIDEBAND TIME-OF-ARRIVAL ESTIMATION 有权
    用于宽带时间估计的技术

    公开(公告)号：US20160202350A1

    公开(公告)日：2016-07-14

    申请号：US14593864

    申请日：2015-01-09

    Applicant: QUALCOMM Incorporated

    Inventor： Jubin JOSE ,  Xinzhou WU ,  Thomas Joseph RICHARDSON

    IPC: G01S11/06 ,  H04W52/54

    CPC classification number: G01S11/06 ,  H04B17/27 ,  H04L27/26 ,  H04W52/16 ,  H04W52/325 ,  H04W52/54

    Abstract: Provided are apparatus and methods for ranging between a plurality of wireless devices. An exemplary method includes, at a first wireless device, transmitting a primary portion symbol comprising a first packet and transmitting a secondary portion symbol. The secondary portion symbol is transmitted simultaneously at a lower transmit power than the primary portion symbol, and the secondary portion symbol comprises a second packet identical to the first packet. The primary portion symbol can be transmitted in a first channel having a substantially 20 MHZ bandwidth and the secondary portion can be transmitted in a second channel having a substantially 20 MHZ bandwidth. The first and second channels are substantially adjacent in frequency. After transmitting the primary portion symbol, for example, a high-throughput long-training-field symbol or a very-high-throughput long-training-field symbol can be repetitively transmitted. This exemplary method enhances time-of-arrival estimation accuracy, minimizes decoding bottlenecking, and maximizes wireless device range.

    Abstract translation: 提供了用于在多个无线设备之间进行测距的装置和方法。 一种示例性方法包括在第一无线设备处发送包括第一分组并发送次要部分符号的主要部分符号。 次要部分符号以比主要部分符号更低的发射功率同时传输，并且次要部分符号包括与第一分组相同的第二分组。 主要部分符号可以在具有大致20MHz带宽的第一信道中发送，并且次级部分可以在具有大致20MHz带宽的第二信道中传输。 第一和第二通道在频率上基本相邻。 在发送主要部分符号之后，例如，可以重复地发送高吞吐量长训练字段符号或非常高吞吐量的长训练字段符号。 该示例性方法增强了到达时间估计精度，使解码瓶颈最小化，并使无线设备范围最大化。

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