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公开(公告)号：US20160140744A1
公开(公告)日：2016-05-19
申请号：US14546217
申请日：2014-11-18
Applicant: GOOGLE INC.
Inventor： Dennis Strelow , Craig Lewin Robinson , Samuel Felix de Sousa, JR.
IPC: G06T11/60
CPC classification number: G06T11/60 , G06T3/0068 , G06T7/30
Abstract: Systems and methods for aligning panoramic imagery of a geographic area captured from a perspective at or near ground level and aerial imagery captured from an oblique perspective are provided. More particularly, a facade plane can be detected in a panoramic image based at least in part on geometric data associated with the image. The panoramic image can also have an associated image pose. An aerial image depicting the same facade can then be identified. The aerial image can be associated with an image pose and geometric data of the depicted imagery. The panoramic image can be warped into an image having a perspective associated with the aerial image. One or more feature matches between the warped image and the aerial image can be identified using a feature matching technique. The matched features can be used to align the panoramic image with the aerial image.
Abstract translation: 提供了从倾斜角度捕获的从地面或附近观察到的地理区域的全景图像对准的空间图像的系统和方法。 更具体地，可以至少部分地基于与图像相关联的几何数据，在全景图像中检测立面平面。 全景图像也可以具有相关联的图像姿势。 然后可以识别描绘相同立面的空中图像。 空中图像可以与所描绘的图像的图像姿态和几何数据相关联。 全景图像可以变形成具有与航空图像相关联的透视图像。 弯曲图像和空中图像之间的一个或多个特征匹配可以使用特征匹配技术来识别。 匹配的功能可用于将全景图像与空中图像对齐。
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2.发明申请公开(公告)号：US20160125634A1
公开(公告)日：2016-05-05
申请号：US14991380
申请日：2016-01-08
Applicant: Google Inc.
Inventor： Craig Lewin Robinson , James Brian Roseborough , Daniel Joseph Filip
CPC classification number: G06T11/60 , G06T17/05 , G06T19/006 , H04B7/18519 , H04B7/18554 , H04N5/23238 , H04W16/22
Abstract: Systems and methods for providing a visualization of satellite sightline obstructions are provided. An example method includes identifying an approximate position of a receiver antenna. The method further includes providing a rendering of a physical environment surrounding the receiver antenna for display within a user interface. The user interface can be provided on a display. Satellite positional data associated with the position of a satellite is accessed and a sightline between the approximate position of the receiver antenna and the position of the satellite is determined. The method further includes presenting the sightline within the user interface in association with the rendering. An example system includes a data capture system and a computing device to provide a visualization of satellite sightline obstructions.
Abstract translation: 提供了提供卫星视线障碍物可视化的系统和方法。 示例性方法包括识别接收机天线的近似位置。 该方法还包括提供围绕接收机天线的物理环境的渲染，以在用户界面内显示。 可以在显示器上提供用户界面。 与卫星的位置相关联的卫星位置数据被访问，并且确定接收机天线的近似位置与卫星的位置之间的视线。 所述方法还包括在所述呈现的关联下在所述用户界面内呈现所述视线。 示例系统包括数据捕获系统和计算设备，以提供卫星视线障碍物的可视化。
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3.发明授权Systems and methods for estimating attitude using double differenced GPS carrier phase measurements 有权使用双差分GPS载波相位测量估计姿态的系统和方法公开(公告)号：US09529093B2
公开(公告)日：2016-12-27
申请号：US14054396
申请日：2013-10-15
Applicant: Google Inc.
CPC classification number: G01S19/54
Abstract: Systems and methods for estimating attitude using double differenced GPS carrier phase measurements are provided. An exemplary computer-implemented method includes obtaining, by one or more computing devices, an initial candidate attitude. The method includes determining, by the one or more computing devices, a plurality of expected double differenced carrier phase values based on the initial candidate attitude. The method includes inputting, by the one or more computing devices, the plurality of expected double differenced carrier phase values into a cost function. The cost function respectively compares the plurality of expected double differenced carrier phase values to a plurality of measured double differenced carrier phase values. The method includes minimizing, by the one or more computing devices, the cost function. The method includes selecting, by the one or more computing devices, a final candidate attitude associated with the minimized cost function as the attitude of the device.
Abstract translation: 提供了使用双差分GPS载波相位测量来估计姿态的系统和方法。 示例性的计算机实现的方法包括由一个或多个计算设备获得初始候选姿态。 该方法包括由一个或多个计算设备基于初始候选姿态来确定多个预期的双差分载波相位值。 该方法包括通过一个或多个计算设备将多个预期的双差分载波相位值输入到成本函数中。 成本函数分别将多个预期双差分载波相位值与多个测量的双差分载波相位值相比较。 该方法包括通过一个或多个计算设备来最小化成本函数。 该方法包括由一个或多个计算设备选择与最小化成本函数相关联的最终候选姿势作为设备的姿态。
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Patent Agency Ranking
公开(公告)号：US20150161441A1
公开(公告)日：2015-06-11
申请号：US14564517
申请日：2014-12-09
Applicant: Google Inc.
Inventor： Craig Lewin Robinson , Arunachalam Narayanaswamy , Marco Zennaro
CPC classification number: G06K9/00791 , G06K9/00637 , G06K9/00818 , G06K9/4652
Abstract: Camera pose optimization, which includes determining the position and orientation of a camera in three-dimensional space at different times, is improved by detecting a higher-confidence reference object in the photographs captured by the camera and using the object to increase consistency and accuracy of pose data. Higher-confidence reference objects include objects that are stationary, fixed, easily recognized, and relatively large. In one embodiment, street level photographs of a geographic area are collected by a vehicle with a camera. The captured images are geo-coded using GPS data, which may be inaccurate. The vehicle drives in a loop and captures the same reference object multiple times from the substantially same position. The trajectory of the vehicle is then closed by aligning the points of multiple images where the trajectory crosses itself. This creates an additional constraint on the pose data, which in turn improves the data's consistency and accuracy.
Abstract translation: 通过在相机拍摄的照片中检测更高置信度的参考对象并使用该对象来提高摄像机在不同时间的三维空间中的位置和姿态，从而提高相机姿态优化，从而提高一致性和准确性 姿态数据。 更高信度的参考对象包括固定，固定，容易识别和相对较大的对象。 在一个实施例中，由具有照相机的车辆收集地理区域的街道照片。 捕获的图像使用GPS数据进行地理编码，这可能不准确。 车辆循环驱动并从基本相同的位置多次捕获相同的参考对象。 然后通过对齐轨迹穿过自身的多个图像的点来关闭车辆的轨迹。 这对姿态数据产生了额外的约束，从而提高了数据的一致性和准确性。
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公开(公告)号：US09679406B2
公开(公告)日：2017-06-13
申请号：US14991380
申请日：2016-01-08
Applicant: Google Inc.
Inventor： Craig Lewin Robinson , James Brian Roseborough , Daniel Joseph Filip
CPC classification number: G06T11/60 , G06T17/05 , G06T19/006 , H04B7/18519 , H04B7/18554 , H04N5/23238 , H04W16/22
Abstract: Systems and methods for providing a visualization of satellite sightline obstructions are provided. An example method includes identifying an approximate position of a receiver antenna. The method further includes providing a rendering of a physical environment surrounding the receiver antenna for display within a user interface. The user interface can be provided on a display. Satellite positional data associated with the position of a satellite is accessed and a sightline between the approximate position of the receiver antenna and the position of the satellite is determined. The method further includes presenting the sightline within the user interface in association with the rendering. An example system includes a data capture system and a computing device to provide a visualization of satellite sightline obstructions.
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公开(公告)号：US09530235B2
公开(公告)日：2016-12-27
申请号：US14546217
申请日：2014-11-18
Applicant: Google Inc.
Inventor： Dennis Strelow , Craig Lewin Robinson , Samuel Felix de Sousa, Jr.
CPC classification number: G06T11/60 , G06T3/0068 , G06T7/30
Abstract: Systems and methods for aligning panoramic imagery of a geographic area captured from a perspective at or near ground level and aerial imagery captured from an oblique perspective are provided. More particularly, a facade plane can be detected in a panoramic image based at least in part on geometric data associated with the image. The panoramic image can also have an associated image pose. An aerial image depicting the same facade can then be identified. The aerial image can be associated with an image pose and geometric data of the depicted imagery. The panoramic image can be warped into an image having a perspective associated with the aerial image. One or more feature matches between the warped image and the aerial image can be identified using a feature matching technique. The matched features can be used to align the panoramic image with the aerial image.
Abstract translation: 提供了从倾斜角度捕获的从地面或附近观察到的地理区域的全景图像对准的空间图像的系统和方法。 更具体地，可以至少部分地基于与图像相关联的几何数据，在全景图像中检测立面平面。 全景图像也可以具有相关联的图像姿势。 然后可以识别描绘相同立面的空中图像。 空中图像可以与所描绘的图像的图像姿态和几何数据相关联。 全景图像可以变形成具有与航空图像相关联的透视图像。 弯曲图像和空中图像之间的一个或多个特征匹配可以使用特征匹配技术来识别。 匹配的功能可用于将全景图像与空中图像对齐。
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7.发明申请Systems and Methods for Estimating Attitude Using Double Differenced GPS Carrier Phase Measurements 有权使用双差分GPS载波相位测量估计姿态的系统和方法公开(公告)号：US20150168562A1
公开(公告)日：2015-06-18
申请号：US14054396
申请日：2013-10-15
Applicant: Google Inc.
IPC: G01S19/54
CPC classification number: G01S19/54
Abstract: Systems and methods for estimating attitude using double differenced GPS carrier phase measurements are provided. An exemplary computer-implemented method includes obtaining, by one or more computing devices, an initial candidate attitude. The method includes determining, by the one or more computing devices, a plurality of expected double differenced carrier phase values based on the initial candidate attitude. The method includes inputting, by the one or more computing devices, the plurality of expected double differenced carrier phase values into a cost function. The cost function respectively compares the plurality of expected double differenced carrier phase values to a plurality of measured double differenced carrier phase values. The method includes minimizing, by the one or more computing devices, the cost function. The method includes selecting, by the one or more computing devices, a final candidate attitude associated with the minimized cost function as the attitude of the device.
Abstract translation: 提供了使用双差分GPS载波相位测量来估计姿态的系统和方法。 示例性的计算机实现的方法包括由一个或多个计算设备获得初始候选姿态。 该方法包括由一个或多个计算设备基于初始候选姿态来确定多个预期的双差分载波相位值。 该方法包括通过一个或多个计算设备将多个预期的双差分载波相位值输入到成本函数中。 成本函数分别将多个预期双差分载波相位值与多个测量的双差分载波相位值相比较。 该方法包括通过一个或多个计算设备来最小化成本函数。 该方法包括由一个或多个计算设备选择与最小化成本函数相关联的最终候选姿势作为设备的姿态。
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8.发明授权Systems and methods for providing a visualization of satellite sightline obstructions 有权提供卫星视线障碍物可视化的系统和方法公开(公告)号：US09235923B1
公开(公告)日：2016-01-12
申请号：US14039777
申请日：2013-09-27
Applicant: Google Inc.
Inventor： Craig Lewin Robinson , James Brian Roseborough , Daniel Joseph Filip
CPC classification number: G06T11/60 , G06T17/05 , G06T19/006 , H04B7/18519 , H04B7/18554 , H04N5/23238 , H04W16/22
Abstract: Systems and methods for providing a visualization of satellite sightline obstructions are provided. An example method includes identifying an approximate position of a receiver antenna. The method further includes providing a rendering of a physical environment surrounding the receiver antenna for display within a user interface. The user interface can be provided on a display. Satellite positional data associated with the position of a satellite is accessed and a sightline between the approximate position of the receiver antenna and the position of the satellite is determined. The method further includes presenting the sightline within the user interface in association with the rendering. An example system includes a data capture system and a computing device to provide a visualization of satellite sightline obstructions.
Abstract translation: 提供了提供卫星视线障碍物可视化的系统和方法。 示例性方法包括识别接收机天线的近似位置。 该方法还包括提供围绕接收机天线的物理环境的渲染，以在用户界面内显示。 可以在显示器上提供用户界面。 与卫星的位置相关联的卫星位置数据被访问，并且确定接收机天线的近似位置与卫星的位置之间的视线。 所述方法还包括在所述呈现的关联下在所述用户界面内呈现所述视线。 示例系统包括数据捕获系统和计算设备，以提供卫星视线障碍物的可视化。
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