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公开(公告)号：US10274737B2
公开(公告)日：2019-04-30
申请号：US15056804
申请日：2016-02-29
IPC分类号： G09G5/36 , G02B27/01 , B60R11/04 , G06T3/00 , H04N5/232 , H04N19/00 , H04N7/18 , H04N13/00 , H04N21/414 , H04N21/4223
摘要： A vehicle camera system captures and transmits video to a user device, which includes a viewing device for playback of the captured video, such as virtual reality or augmented reality glasses. A rendering map is generated that indicates which pixels of the video frame (as identified by particular coordinates of the video frame) correspond to which coordinates of a virtual sphere in which a portion of the video frame is rendered for display. When a video frame is received, the rendering map is used to determine the texture values (e.g., colors) for coordinates in the virtual sphere, which is used to generate the display for the user. This technique reduces the rendering time when a user turns his or her head (e.g., while in virtual reality) and so it reduces motion and/or virtual reality sickness induced by the rendering lag.
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公开(公告)号：US10271021B2
公开(公告)日：2019-04-23
申请号：US15056678
申请日：2016-02-29
摘要： A vehicle has a camera system that captures video while the vehicle moves. The vehicle records the captured video and/or wirelessly transmits the captured video to a remote user device for playback. When the vehicle is moving, a coarse waypoint is identified and a trajectory is determined from the current location of the vehicle to the coarse waypoint that reduces (e.g., minimizes) sudden changes in direction of movement of the vehicle, reduces (e.g., minimizes) sudden changes in speed of the vehicle, and/or reduces (e.g., minimizes) sudden changes in acceleration of the vehicle by reducing (e.g., minimizing) jerk or snap of the vehicle trajectory. One or more fine waypoints along the trajectory are selected and the vehicle moves to the coarse waypoint along the trajectory by passing through those fine waypoints, resulting in smooth movement of the device that reduces or eliminates motion sickness for users viewing the captured video.
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公开(公告)号：US20170251180A1
公开(公告)日：2017-08-31
申请号：US15056922
申请日：2016-02-29
CPC分类号： H04N7/185 , B64C39/02 , G02B27/017 , G02B2027/0178 , G05D1/0038 , G06Q10/101 , G06T19/006 , H04N5/23296
摘要： In embodiments of collaborative camera viewpoint control for interactive telepresence, a system includes a vehicle that travels based on received travel instructions, and the vehicle includes a camera system of multiple cameras that each capture video of an environment in which the vehicle travels from different viewpoints. Viewing devices receive the video of the environment from the different viewpoints, where the video of the environment from a selected one of the viewpoints is displayable to users of the viewing devices. Controller devices that are associated with the viewing devices can each receive a user input as a proposed travel instruction for the vehicle based on the selected viewpoint of the video that is displayed on the viewing devices. A trajectory planner receives the proposed travel instructions initiated via the controller devices, and generates a consensus travel instruction for the vehicle based on the proposed travel instructions.
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公开(公告)号：US20170251179A1
公开(公告)日：2017-08-31
申请号：US15056678
申请日：2016-02-29
CPC分类号： H04N7/185 , B64C39/024 , B64C2201/027 , B64C2201/127 , B64C2201/146 , G02B27/017 , G02B2027/0178 , G05D1/0094 , H04B7/18506
摘要： A vehicle has a camera system that captures video while the vehicle moves. The vehicle records the captured video and/or wirelessly transmits the captured video to a remote user device for playback. When the vehicle is moving, a coarse waypoint is identified and a trajectory is determined from the current location of the vehicle to the coarse waypoint that reduces (e.g., minimizes) sudden changes in direction of movement of the vehicle, reduces (e.g., minimizes) sudden changes in speed of the vehicle, and/or reduces (e.g., minimizes) sudden changes in acceleration of the vehicle by reducing (e.g., minimizing) jerk or snap of the vehicle trajectory. One or more fine waypoints along the trajectory are selected and the vehicle moves to the coarse waypoint along the trajectory by passing through those fine waypoints, resulting in smooth movement of the device that reduces or eliminates motion sickness for users viewing the captured video.
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公开(公告)号：US10602098B2
公开(公告)日：2020-03-24
申请号：US16356829
申请日：2019-03-18
摘要： A vehicle has a camera system that captures video while the vehicle moves. The vehicle records the captured video and/or wirelessly transmits the captured video to a remote user device for playback. When the vehicle is moving, a coarse waypoint is identified and a trajectory is determined from the current location of the vehicle to the coarse waypoint that reduces (e.g., minimizes) sudden changes in direction of movement of the vehicle, reduces (e.g., minimizes) sudden changes in speed of the vehicle, and/or reduces (e.g., minimizes) sudden changes in acceleration of the vehicle by reducing (e.g., minimizing) jerk or snap of the vehicle trajectory. One or more fine waypoints along the trajectory are selected and the vehicle moves to the coarse waypoint along the trajectory by passing through those fine waypoints, resulting in smooth movement of the device that reduces or eliminates motion sickness for users viewing the captured video.
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公开(公告)号：US10244211B2
公开(公告)日：2019-03-26
申请号：US15056983
申请日：2016-02-29
摘要： In embodiments of immersive interactive telepresence, a system includes a vehicle that captures an experience of an environment in which the vehicle travels, and the experience includes audio and video of the environment. User interactive devices receive the audio and the video of the environment, and each of the user interactive devices represent the experience for one or more users who are remote from the environment. A trajectory planner is implemented to route the vehicle based on obstacle avoidance and user travel intent as the vehicle travels in the environment. The trajectory planner can route the vehicle to achieve a location objective in the environment without explicit direction input from a vehicle operator or from the users of the user interactive devices.
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公开(公告)号：US20170251176A1
公开(公告)日：2017-08-31
申请号：US15056804
申请日：2016-02-29
CPC分类号： G02B27/0179 , B60R11/04 , G02B27/017 , G02B2027/0134 , G02B2027/0138 , G02B2027/014 , G02B2027/0178 , G02B2027/0187 , G06T3/005 , H04N5/23203 , H04N5/23238 , H04N7/183 , H04N13/00 , H04N13/111 , H04N13/243 , H04N13/344 , H04N19/00 , H04N21/41422 , H04N21/4223
摘要： A vehicle camera system captures and transmits video to a user device, which includes a viewing device for playback of the captured video, such as virtual reality or augmented reality glasses. A rendering map is generated that indicates which pixels of the video frame (as identified by particular coordinates of the video frame) correspond to which coordinates of a virtual sphere in which a portion of the video frame is rendered for display. When a video frame is received, the rendering map is used to determine the texture values (e.g., colors) for coordinates in the virtual sphere, which is used to generate the display for the user. This technique reduces the rendering time when a user turns his or her head (e.g., while in virtual reality) and so it reduces motion and/or virtual reality sickness induced by the rendering lag.
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公开(公告)号：US10200659B2
公开(公告)日：2019-02-05
申请号：US15056922
申请日：2016-02-29
摘要： In embodiments of collaborative camera viewpoint control for interactive telepresence, a system includes a vehicle that travels based on received travel instructions, and the vehicle includes a camera system of multiple cameras that each capture video of an environment in which the vehicle travels from different viewpoints. Viewing devices receive the video of the environment from the different viewpoints, where the video of the environment from a selected one of the viewpoints is displayable to users of the viewing devices. Controller devices that are associated with the viewing devices can each receive a user input as a proposed travel instruction for the vehicle based on the selected viewpoint of the video that is displayed on the viewing devices. A trajectory planner receives the proposed travel instructions initiated via the controller devices, and generates a consensus travel instruction for the vehicle based on the proposed travel instructions.
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公开(公告)号：US20190215495A1
公开(公告)日：2019-07-11
申请号：US16356829
申请日：2019-03-18
CPC分类号： H04N7/185 , B64C39/024 , B64C2201/027 , B64C2201/127 , B64C2201/146 , G02B27/017 , G02B2027/0178 , G05D1/0094 , G05D1/101 , H04B7/18506
摘要： A vehicle has a camera system that captures video while the vehicle moves. The vehicle records the captured video and/or wirelessly transmits the captured video to a remote user device for playback. When the vehicle is moving, a coarse waypoint is identified and a trajectory is determined from the current location of the vehicle to the coarse waypoint that reduces (e.g., minimizes) sudden changes in direction of movement of the vehicle, reduces (e.g., minimizes) sudden changes in speed of the vehicle, and/or reduces (e.g., minimizes) sudden changes in acceleration of the vehicle by reducing (e.g., minimizing) jerk or snap of the vehicle trajectory. One or more fine waypoints along the trajectory are selected and the vehicle moves to the coarse waypoint along the trajectory by passing through those fine waypoints, resulting in smooth movement of the device that reduces or eliminates motion sickness for users viewing the captured video.
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公开(公告)号：US20170251181A1
公开(公告)日：2017-08-31
申请号：US15056983
申请日：2016-02-29
CPC分类号： H04N7/185 , B64C39/024 , B64C2201/127 , B64C2201/141 , B64C2201/146 , G01C21/3484 , G05D1/0016 , G05D1/0038 , G05D1/005 , G08G5/0026 , G08G5/0034 , G08G5/0039 , G08G5/006 , G08G5/0069 , G08G5/0082 , H04L67/38
摘要： In embodiments of immersive interactive telepresence, a system includes a vehicle that captures an experience of an environment in which the vehicle travels, and the experience includes audio and video of the environment. User interactive devices receive the audio and the video of the environment, and each of the user interactive devices represent the experience for one or more users who are remote from the environment. A trajectory planner is implemented to route the vehicle based on obstacle avoidance and user travel intent as the vehicle travels in the environment. The trajectory planner can route the vehicle to achieve a location objective in the environment without explicit direction input from a vehicle operator or from the users of the user interactive devices.
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