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    3D point cloud map alignment with open street map for outdoor 6D localization on mobile platforms
    4.
    发明授权
    3D point cloud map alignment with open street map for outdoor 6D localization on mobile platforms 有权

    公开(公告)号：US11487022B2

    公开(公告)日：2022-11-01

    申请号：US16706318

    申请日：2019-12-06

    申请人： Black Sesame International Holding Limited

    发明人： Yu Chen ,  Guan Wang

    IPC分类号： G01S19/00 ,  G01S19/45 ,  G06T7/70

    摘要： A method of mapping and localization is disclosed that includes, reconstructing a point cloud and a camera pose based on VSLAM, synchronizing the camera pose and a GPS timestamp at a first set of GPS coordinate points and transforming the first set of GPS coordinate points corresponding to the GPS timestamp into a first set of ECEF coordinate points. The method also includes determining a translation and a rotation between the camera pose and the first set of ECEF coordinate points, transforming the point cloud and the camera pose into a second set of ECEF coordinates based on the translation and the rotation and transforming the point cloud and the camera pose into a second set of GPS coordinate points. The method further includes constructing and storing a key-frame image, a key-frame timestamp and a key-frame GPS based on the second set of GPS coordinate points.

    Vehicle localization
    6.
    发明授权
    Vehicle localization 有权

    公开(公告)号：US11372115B2

    公开(公告)日：2022-06-28

    申请号：US16422640

    申请日：2019-05-24

    申请人： CYNGN, INC.

    发明人： I-Chung Joseph Lin ,  Elena Ramona Stefanescu ,  Dhivya Sukumar ,  Sumit Saxena

    IPC分类号： G01S19/00 ,  G01S19/47 ,  G01S19/39 ,  G05D1/02

    摘要： The localization of a vehicle is determined using less expensive and computationally robust equipment compared to conventional methods. Localization is determined by estimating the position of a vehicle relative to a map of the environment, and the process thereof includes using a map of the surrounding environment of the vehicle, a model of the motion of the frame of reference of the vehicle (e.g., ego-motion), sensor data from the surrounding environment, and a process to match sensory data to the map. Localization also includes a process to estimate the position based on the sensor data, the motion of the frame of reference of the vehicle, and/or the map. Such methods and systems enable the use of less expensive components while achieving useful results for a variety of applications, such as autonomous vehicles.

    Feedback based indoor localization using digital off-air access units
    9.
    发明授权
    Feedback based indoor localization using digital off-air access units 有权

    公开(公告)号：US11156719B2

    公开(公告)日：2021-10-26

    申请号：US16535176

    申请日：2019-08-08

    申请人： Dali Systems Co. Ltd.

    发明人： Shawn Patrick Stapleton

    IPC分类号： G01S19/11 ,  G01S19/01 ,  G01S19/00

    摘要： A system for indoor localization using satellite navigation signals in a Distributed Antenna System includes a plurality of Off-Air Access Units (OAAUs). Each of the plurality of OAAUs is operable to receive an individual satellite navigation signal from at least one of a plurality of satellites and operable to route signals optically to one or more DAUs. The system also includes a plurality of remote DRUs located at a remote location. The plurality of remote DRUs are operable to receive signals from a plurality of local DAUs. The system further includes an algorithm to delay each individual satellite navigation signal for providing indoor localization at each of the plurality of DRUs and a GPS receiver at the remote location used in a feedback loop with the DRU to control the delays.

    System and method for adjusting the correlation between a perspective of an onboard visual display and a current orientation of an inflight aircraft
    10.
    发明授权
    System and method for adjusting the correlation between a perspective of an onboard visual display and a current orientation of an inflight aircraft 有权

    公开(公告)号：US11056018B2

    公开(公告)日：2021-07-06

    申请号：US16417215

    申请日：2019-05-20

    申请人： HONEYWELL INTERNATIONAL INC.

    发明人： Gang He

    IPC分类号： G09B9/00 ,  G09B9/32 ,  H04B7/00 ,  H04B7/185 ,  G01S19/26 ,  G01S19/00 ,  G01C23/00

    摘要： Methods are provided for adjusting any correlation between a perspective of an onboard visual display and a current orientation of an inflight aircraft. The method comprises determining the current orientation of the inflight aircraft and determining the perspective of the visual display. The visual display is shown to a pilot of the inflight aircraft on a display element located onboard the inflight aircraft. The current orientation of the aircraft is compared with the perspective of the visual display to determine if the perspective of the visual display needs to transition to reflect the current orientation of the aircraft. If the display does need to be changed, a rate of transition of the visual display's perspective is selected based on current aircraft performance parameters. The perspective of the visual display is then transitioned to reflect the current orientation of the aircraft at the selected rate.