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

IPC: G06T7/00 ,  G01S19/14 ,  G06T7/20

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.

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

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

IPC: G06K9/00 ,  G06T7/00

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。

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

IPC: G06K9/00 ,  G06T7/60

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。