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1.发明授权公开(公告)号：US09445015B2
公开(公告)日：2016-09-13
申请号：US14185477
申请日：2014-02-20
Applicant: Google Inc.
Inventor： Joel Hesch , Ryan Hickman , Johnny Lee
CPC classification number: H04N5/2628 , G06T15/205 , H04N5/2258 , H04N5/23229 , H04N5/23293 , H04N5/2621 , H04N2209/047 , H04W4/026 , H04W4/027
Abstract: Example methods and systems for adjusting sensor viewpoint to a virtual viewpoint are provided. An example method may involve receiving data from a first camera; receiving data from a second camera; transforming, from the first viewpoint to a virtual viewpoint within the device, frames in a first plurality of frames based on an offset from the first camera to the virtual viewpoint; determining, in a second plurality of frames, one or more features and a movement, relative to the second viewpoint, of the one or more features; and transforming, from the second viewpoint to the virtual viewpoint, the movement of the one or more features based on an offset from the second camera to the virtual viewpoint; adjusting the transformed frames of the virtual viewpoint by an amount that is proportional to the transformed movement; and providing for display the adjusted and transformed frames of the first plurality of frames.
Abstract translation: 提供了将传感器视点调整到虚拟视点的示例性方法和系统。 示例性方法可以涉及从第一相机接收数据; 从第二相机接收数据; 基于从第一摄像机到虚拟视点的偏移，从设备内的第一视点到虚拟视点转换第一多个帧中的帧; 在第二多个帧中确定所述一个或多个特征的一个或多个特征和相对于所述第二视点的运动; 并且从第二观点向虚拟视点将基于从第二照相机的偏移到所述虚拟视点的所述一个或多个特征的移动; 将所述虚拟视点的变换帧调整与所述变换的运动成比例的量; 以及提供用于显示所述第一多个帧的已调整和变换的帧。
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2.发明授权Methods and systems for cross-validating sensor data acquired using sensors of a mobile device 有权用于交叉验证使用移动设备的传感器获取的传感器数据的方法和系统公开(公告)号：US09277361B2
公开(公告)日：2016-03-01
申请号：US14184929
申请日：2014-02-20
Applicant: Google Inc.
Inventor： James Fung , Joel Hesch , Johnny Lee
CPC classification number: H04W4/026 , G06T7/246 , G06T2207/10004 , G06T2207/10012 , G06T2207/10028 , G06T2207/30241
Abstract: Methods and systems for cross-validating sensor data are described. An example method involves receiving image data and first timing information associated with the image data, and receiving sensor data and second timing information associated with the sensor data. The method further involves determining a first estimation of motion of the mobile device based on the image data and the first timing information, and determining a second estimation of the motion of the mobile device based on the sensor data and the second timing information. Additionally, the method involves determining whether the first estimation is within a threshold variance of the second estimation. The method then involves providing an output indicative of a validity of the first timing information and the second timing information based on whether the first estimation is within the threshold variance of the second estimation.
Abstract translation: 描述用于交叉验证传感器数据的方法和系统。 示例性方法包括接收与图像数据相关联的图像数据和第一定时信息，以及接收与传感器数据相关联的传感器数据和第二定时信息。 该方法还包括基于图像数据和第一定时信息确定移动设备的运动的第一估计，以及基于传感器数据和第二定时信息确定移动设备的运动的第二估计。 另外，该方法包括确定第一估计是否在第二估计的阈值方差内。 该方法然后包括基于第一估计是否在第二估计的阈值方差内提供指示第一定时信息和第二定时信息的有效性的输出。
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3.发明授权公开(公告)号：US09819855B2
公开(公告)日：2017-11-14
申请号：US14918730
申请日：2015-10-21
Applicant: Google Inc.
Inventor： Joel Hesch , James Fung
CPC classification number: H04N5/23216 , G01B11/25 , G01B11/2545 , G01S3/00 , G01S5/0263 , H04N5/145 , H04N5/2256 , H04N5/23238 , H04N5/23254 , H04N5/23258 , H04N5/2327 , H04N5/2353 , H04N5/243 , H04N9/735 , H04N13/0037 , H04N13/15
Abstract: An electronic device balances gain and exposure at an imaging sensor of the device based on detected image capture conditions, such as motion of the electronic device, distance of a scene from the electronic device, and predicted illumination conditions for the electronic device. By balancing the gain and exposure, the quality of images captured by the imaging sensor is enhanced, which in turn provides for improved support of location-based functionality.
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公开(公告)号：US20170102772A1
公开(公告)日：2017-04-13
申请号：US14877038
申请日：2015-10-07
Applicant: Google Inc.
Inventor： Joel Hesch , Esha Nerurkar
IPC: G06F3/01 , G01P15/093 , H04N5/232
CPC classification number: G06F3/017 , G01C3/08 , G01P15/093 , G01S5/163 , G06T7/73 , G06T2207/30244 , H04N5/23229
Abstract: An electronic device includes one or more imaging sensors (e.g, imaging cameras) and includes one or more non-image sensors, such as an inertial measurement unit (IMU), that can provide information indicative of the pose of the electronic device. The electronic device estimates its pose based on two independent sources of pose information: pose information generated at a relatively high rate based on non-visual information generated by the non-image sensors and pose information generated at a relatively low rate based on imagery captured by the one or more imaging sensors. To achieve both a high pose-estimation rate and high degree of pose estimation accuracy, the electronic device adjusts a pose estimate based on the non-visual pose information at a high rate, and at a lower rate spatially smoothes the pose estimate based on the visual pose information.
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5.发明申请公开(公告)号：US20150362579A1
公开(公告)日：2015-12-17
申请号：US14302926
申请日：2014-06-12
Applicant: Google Inc.
Inventor： Joel Hesch
IPC: G01R35/00
CPC classification number: G06K9/209 , G01C17/38 , G01C21/165 , G01C25/00 , G01C25/005 , G06K9/00664 , G06T7/85
Abstract: Methods and systems for sensor calibration are described. An example method involves receiving image data from a first sensor and sensor data associated with the image data from a second sensor. The image data includes data representative of a target object. The method further involves determining an object identification for the target object based on the captured image data. Additionally, the method includes retrieving object data based on the object identification, where the object data includes data related to a three-dimensional representation of the target object. Additionally, the method includes determining a predicted sensor value based on the based on the object data and the image data. Further, the method includes determining a sensor calibration value based on a different between the received sensor data and the predicted sensor value. Moreover, the method includes adjusting the second sensor based on the sensor calibration value.
Abstract translation: 描述了用于传感器校准的方法和系统。 一种示例性方法涉及从第一传感器接收图像数据和从第二传感器接收与图像数据相关联的传感器数据。 图像数据包括表示目标对象的数据。 该方法还包括基于所捕获的图像数据来确定目标对象的对象标识。 此外，该方法包括基于对象标识检索对象数据，其中对象数据包括与目标对象的三维表示相关的数据。 另外，该方法包括基于目标数据和图像数据来确定预测传感器值。 此外，该方法包括基于所接收的传感器数据和预测的传感器值之间的不同来确定传感器校准值。 此外，该方法包括基于传感器校准值来调整第二传感器。
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Patent Agency Ranking
6.发明申请Methods and Systems for Acquiring Sensor Data on a Device Using Multiple Acquisition Modes 有权使用多种采集模式获取设备上传感器数据的方法和系统公开(公告)号：US20150233743A1
公开(公告)日：2015-08-20
申请号：US14185176
申请日：2014-02-20
Applicant: Google Inc.
Inventor： James Fung , Joel Hesch , Johnny Lee
IPC: G01D21/02
CPC classification number: G01C23/00
Abstract: Methods and systems for acquiring sensor data using multiple acquisition modes are described. An example method involves receiving, by a co-processor and from an application processor, a request for sensor data. The request identifies at least two sensors of a plurality of sensors for which data is requested. The at least two sensors are configured to acquire sensor data in a plurality of acquisition modes, and the request further identifies for the at least two sensors respective acquisition modes for acquiring data that are selected from among the plurality of acquisition modes. In response to receiving the request, the co-processor causes the at least two sensors to acquire data in the respective acquisition modes. The co-processor receives first sensor data from a first sensor and second sensor data from a second sensor, and the co-processor provides the first sensor data and the second sensor data to the application processor.
Abstract translation: 描述使用多种采集模式获取传感器数据的方法和系统。 一种示例性方法涉及由协处理器和应用处理器接收对传感器数据的请求。 该请求识别要求数据的多个传感器中的至少两个传感器。 所述至少两个传感器被配置为以多个获取模式获取传感器数据，并且所述请求还针对所述至少两个传感器识别用于获取从所述多个采集模式中选择的数据的各自的获取模式。 响应于接收到该请求，协处理器使得至少两个传感器以相应的采集模式获取数据。 协处理器从第一传感器接收第一传感器数据并从第二传感器接收第二传感器数据，并且协处理器将第一传感器数据和第二传感器数据提供给应用处理器。
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公开(公告)号：US20190033988A1
公开(公告)日：2019-01-31
申请号：US15660216
申请日：2017-07-26
Applicant: Google Inc.
Inventor： Joel Hesch , Shiqi Chen , Johnny Lee , Rahul Garg
IPC: G06F3/0346 , G06T7/73 , G06F3/0354 , G06F3/01
Abstract: A method for controller tracking with multiple degrees of freedom includes generating depth data at an electronic device based on a local environment proximate the electronic device. A set of positional data is generated for at least one spatial feature associated with a controller based on a pose of the electronic device, as determined using the depth data, relative to the at least one spatial feature associated with the controller. A set of rotational data is received that represents three degrees-of-freedom (3DoF) orientation of the controller within the local environment, and a six degrees-of-freedom (6DoF) position of the controller within the local environment is tracked based on the set of positional data and the set of rotational data.
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公开(公告)号：US10073531B2
公开(公告)日：2018-09-11
申请号：US14877038
申请日：2015-10-07
Applicant: Google Inc.
Inventor： Joel Hesch , Esha Nerurkar
IPC: G06F3/01 , H04N5/232 , G01P15/09 , G01P15/093
CPC classification number: G06F3/017 , G01C3/08 , G01P15/093 , G01S5/163 , G06T7/73 , G06T2207/30244 , H04N5/23229
Abstract: An electronic device includes one or more imaging sensors (e.g, imaging cameras) and includes one or more non-image sensors, such as an inertial measurement unit (IMU), that can provide information indicative of the pose of the electronic device. The electronic device estimates its pose based on two independent sources of pose information: pose information generated at a relatively high rate based on non-visual information generated by the non-image sensors and pose information generated at a relatively low rate based on imagery captured by the one or more imaging sensors. To achieve both a high pose-estimation rate and high degree of pose estimation accuracy, the electronic device adjusts a pose estimate based on the non-visual pose information at a high rate, and at a lower rate spatially smoothes the pose estimate based on the visual pose information.
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公开(公告)号：US20170358142A1
公开(公告)日：2017-12-14
申请号：US15664754
申请日：2017-07-31
Applicant: Google Inc.
Inventor： Johnny Chung Lee , Joel Hesch , Ryan Hickman , Patrick Mihelich , James Fung
CPC classification number: G06T19/006 , G06T2210/04 , H04L67/18 , H04L67/38 , H04W4/026 , H04W4/043
Abstract: An electronic device includes at least one sensor, a display, and a processor. The processor is configured to determine a dimension of a physical object along an axis based on a change in position of the electronic device when the electronic device is moved from a first end of the physical object along the axis to a second end of the physical object along the axis. A method includes capturing and displaying imagery of a physical object at an electronic device, and receiving user input identifying at least two points of the physical object in the displayed imagery. The method further includes determining, at the electronic device, at least one dimensional aspect of the physical object based on the at least two points of the physical object using a three-dimensional mapping of the physical object.
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10.发明授权公开(公告)号：US09485366B2
公开(公告)日：2016-11-01
申请号：US15066105
申请日：2016-03-10
Applicant: Google Inc.
Inventor： James Fung , Joel Hesch , Johnny Lee
CPC classification number: H04N1/00204 , H04N1/2133 , H04N1/215 , H04N1/32128 , H04N5/2257 , H04N5/232 , H04N5/23229 , H04N5/772 , H04N2201/0084 , H04N2201/3247 , H04N2201/3252
Abstract: Methods and systems for communicating sensor data on a mobile device are described. An example method involves receiving, by a processor and from an inertial measurement unit (IMU), sensor data corresponding to a first timeframe, and storing the sensor data using a data buffer. The processor may also receive image data and sensor data corresponding to a second timeframe. The processor may then generate a digital image that includes at least the image data corresponding to the second timeframe and the sensor data corresponding to the first timeframe and the second timeframe. The processor may embed the stored sensor data corresponding to the first timeframe and the second timeframe in pixels of the digital image. And the processor may provide the digital image to an application processor of the mobile device.
Abstract translation: 描述了用于在移动设备上传送传感器数据的方法和系统。 一种示例性方法包括由处理器和惯性测量单元（IMU）接收对应于第一时间帧的传感器数据，以及使用数据缓冲器存储传感器数据。 处理器还可以接收对应于第二时间帧的图像数据和传感器数据。 然后，处理器可以生成至少包括对应于第二时间帧的图像数据和对应于第一时间帧和第二时间帧的传感器数据的数字图像。 处理器可以将对应于第一时间帧和第二时间帧的存储的传感器数据嵌入数字图像的像素中。 并且处理器可以将数字图像提供给移动设备的应用处理器。
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