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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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公开(公告)号：US20220108487A1
公开(公告)日：2022-04-07
申请号：US17495428
申请日：2021-10-06
Applicant: QUALCOMM Incorporated
Inventor： Keming Cao , Adarsh Krishnan Ramasubramonian , Geert Van der Auwera , John Steven Lima , Christopher Brunner , Marta Karczewicz , Bappaditya Ray
Abstract: A device for encoding point cloud data, the device comprising: a memory to store the point cloud data; and one or more processors coupled to the memory and implemented in circuitry, the one or more processors configured to identify a first set of global motion parameters from global positioning system information. The one or more processors are further configured to determine, based on the first set of global motion parameters, a second set of global motion parameters to be used for global motion estimation for a current frame and apply, based on the second set of global motion parameters, motion compensation to a reference frame to generate a global motion compensated frame for the current frame.
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4.发明申请公开(公告)号：US20190068829A1
公开(公告)日：2019-02-28
申请号：US15861104
申请日：2018-01-03
Applicant: QUALCOMM Incorporated
Inventor： Travis Van Schoyck , Daniel Warren Mellinger, III , Michael Joshua Shomin , Jonathan Paul Davis , Ross Eric Kessler , Michael Franco Taveira , Christopher Brunner , Stephen Marc Chaves , John Anthony Dougherty , Gary McGrath
Abstract: Embodiments include methods performed by a processor of a robotic vehicle for detecting and responding to obstructions to an on-board imaging device that includes an image sensor. Various embodiments may include causing the imaging device to capture at least one image, determining whether an obstruction to the imaging device is detected based at least in part on the at least one captured image, and, in response to determining that an obstruction to the imaging device is detected, identifying an area of the image sensor corresponding to the obstruction and masking image data received from the identified area of the image sensor.
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公开(公告)号：US20150319577A1
公开(公告)日：2015-11-05
申请号：US14748856
申请日：2015-06-24
Applicant: QUALCOMM Incorporated
Inventor： Christopher Brunner , Victor Kulik
CPC classification number: H04W4/023 , G01S5/0242 , G01S5/0252 , G01S19/47 , G01S19/48 , H04W4/026 , H04W4/027 , H04W24/08
Abstract: A mobile station determines its position using measured parameters of a wireless signal to improve a satellite positioning system (SPS) enhanced dead reckoning based position estimate. The mobile station uses SPS enhanced dead reckoning to estimate a current position. The mobile station receives wireless signals from a plurality of access points and determines the round trip time. The estimated position of the mobile station is improved based on estimated positions of the plurality of access points and wireless signal based distance estimates from the plurality of access points that are determined using a channel model and the round trip time for the wireless signals.
Abstract translation: 移动台使用无线信号的测量参数来确定其位置，以改进基于位置估计的卫星定位系统（SPS）增强航位推算。 移动台使用SPS增强航位推算来估计当前位置。 移动站从多个接入点接收无线信号并确定往返时间。 基于多个接入点的估计位置和使用信道模型确定的多个接入点的无线信号距离估计以及无线信号的往返时间，改善移动台的估计位置。
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Patent Agency Ranking
公开(公告)号：US09013617B2
公开(公告)日：2015-04-21
申请号：US13651055
申请日：2012-10-12
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Christopher Brunner , Murali R. Chari , Serafin Diaz Spindola
CPC classification number: G01C25/00 , G06T7/73 , G06T2207/10016 , G06T2207/30244
Abstract: An apparatus and method for generating parameters for an application, such as an augmented reality application (AR app), using camera pose and gyroscope rotation is disclosed. The parameters are estimated based on pose from images and rotation from a gyroscope (e.g., using least-squares estimation with QR factorization or a Kalman filter). The parameters indicate rotation, scale and/or non-orthogonality parameters and optionally gyroscope bias errors. In addition, the scale and non-orthogonality parameters may be used for conditioning raw gyroscope measurements to compensate for scale and non-orthogonality.
Abstract translation: 公开了一种使用相机姿态和陀螺仪旋转来生成诸如增强现实应用（AR app）的应用的参数的装置和方法。 基于来自图像的姿态和来自陀螺仪的旋转来估计参数（例如，使用具有QR因子分解的最小二乘估计或卡尔曼滤波器）。 参数表示旋转，刻度和/或非正交性参数以及可选的陀螺仪偏置误差。 此外，尺度和非正交性参数可用于调节原始陀螺仪测量以补偿比例和非正交性。
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公开(公告)号：US20140126771A1
公开(公告)日：2014-05-08
申请号：US14014174
申请日：2013-08-29
Applicant: QUALCOMM Incorporated
IPC: 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。
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公开(公告)号：US20140104445A1
公开(公告)日：2014-04-17
申请号：US13651055
申请日：2012-10-12
Applicant: QUALCOMM INCORPORATED
Inventor： Mahesh RAMACHANDRAN , Christopher Brunner , Murali R. Chari , Serafin Diaz Spindola
IPC: H04N5/228
CPC classification number: G01C25/00 , G06T7/73 , G06T2207/10016 , G06T2207/30244
Abstract: An apparatus and method for generating parameters for an application, such as an augmented reality application (AR app), using camera pose and gyroscope rotation is disclosed. The parameters are estimated based on pose from images and rotation from a gyroscope (e.g., using least-squares estimation with QR factorization or a Kalman filter). The parameters indicate rotation, scale and/or non-orthogonality parameters and optionally gyroscope bias errors. In addition, the scale and non-orthogonality parameters may be used for conditioning raw gyroscope measurements to compensate for scale and non-orthogonality.
Abstract translation: 公开了一种使用相机姿态和陀螺仪旋转来生成诸如增强现实应用（AR app）的应用的参数的装置和方法。 基于来自图像的姿态和来自陀螺仪的旋转来估计参数（例如，使用具有QR因子分解的最小二乘估计或卡尔曼滤波器）。 参数表示旋转，刻度和/或非正交性参数以及可选的陀螺仪偏置误差。 此外，尺度和非正交性参数可用于调节原始陀螺仪测量以补偿比例和非正交性。
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公开(公告)号：US09965689B2
公开(公告)日：2018-05-08
申请号：US15178505
申请日：2016-06-09
Applicant: QUALCOMM Incorporated
Inventor： Paulo Ricardo dos Santos Mendonca , Christopher Brunner , Arvind Ramanandan , Murali Ramaswamy Chari , Dheeraj Ahuja
CPC classification number: G06K9/00791 , G01C21/00 , G01C21/165 , G01S19/42 , G06K9/00 , G06K9/00664 , G06K9/6201 , G06K9/6211 , G06T7/20 , G06T7/30 , G06T2200/04 , G06T2207/30244
Abstract: A first map comprising local features and 3D locations of the local features is generated, the local features comprising visible features in a current image and a corresponding set of covisible features. A second map comprising prior features and 3D locations of the prior features may be determined, where each prior feature: was first imaged at a time prior to the first imaging of any of the local features, and lies within a threshold distance of at least one local feature. A first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map is determined by comparing the first and second maps, where each local feature in the first subset corresponds to a distinct prior feature in the second subset. A transformation mapping a subset of local features to a subset of prior features is determined.
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公开(公告)号：US20150094089A1
公开(公告)日：2015-04-02
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
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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