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11.发明申请METHOD FOR ALIGNING A MOBILE DEVICE SURFACE WITH THE COORDINATE SYSTEM OF A SENSOR 有权用传感器坐标系统对移动设备表面进行对准的方法公开(公告)号：US20140129170A1
公开(公告)日：2014-05-08
申请号：US13767838
申请日：2013-02-14
Applicant: QUALCOMM INCORPORATED
IPC: G01P21/00
CPC classification number: G01P21/00 , G01C25/00 , G01C25/005
Abstract: An accelerometer in a mobile device is calibrated by taking multiple measurements of acceleration vectors when the mobile device is held stationary at different orientations with respect to a plane normal. A circle is calculated that fits respective tips of measured acceleration vectors in the accelerometer coordinate system. The radius of the circle and the lengths of the measured acceleration vectors are used to calculate a rotation angle for aligning the accelerometer coordinate system with the mobile device surface. A gyroscope in the mobile device is calibrated by taking multiple measurements of a rotation axis when the mobile device is rotated at different rates with respect to the rotation axis. A line is calculated that fits the measurements. The angle between the line and an axis of the gyroscope coordinate system is used to align the gyroscope coordinate system with the mobile device surface.
Abstract translation: 当移动设备以相对于平面法线的不同取向保持静止时，通过对加速度矢量进行多次测量来校准移动设备中的加速度计。 计算一个圆圈，该圆圈适合加速度计坐标系中测量加速度向量的各个尖端。 使用圆的半径和测量的加速度矢量的长度来计算用于使加速度计坐标系与移动设备表面对准的旋转角度。 当移动设备相对于旋转轴以不同的速率旋转时，通过对旋转轴进行多次测量来校准移动设备中的陀螺仪。 计算符合测量值的线。 陀螺仪坐标系的线和轴之间的角度用于将陀螺仪坐标系与移动设备表面对齐。
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公开(公告)号：US09947100B2
公开(公告)日：2018-04-17
申请号：US15195921
申请日：2016-06-28
Applicant: QUALCOMM Incorporated
Inventor： Mark Leo Moeglein , Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
IPC: G01C21/16 , G06T7/00 , G06K9/00 , G06T7/60 , H04W4/02 , H04W4/04 , G01C21/00 , G01S19/13 , G01C21/20 , G01S5/02 , G01S5/16 , G01C25/00 , G01S19/14 , G06T7/80 , G06T7/579 , G06T7/246
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.
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公开(公告)号：US09667873B2
公开(公告)日：2017-05-30
申请号：US14268784
申请日：2014-05-02
Applicant: QUALCOMM Incorporated
Inventor： Alessandro Mulloni , Gerhard Reitmayr , Mahesh Ramachandran , Daniel Wagner
CPC classification number: H04N5/23296 , G01C25/005 , G06T7/73 , G06T7/80 , G06T2207/20092 , H04N5/23203
Abstract: Embodiments disclosed pertain to systems, method s and apparatus for the initialization of Computer Vision (CV) applications on user devices (UDs) comprising a camera and a display. In some embodiments, an optimal camera trajectory for initialization of a Computer Vision (CV) application may be determined based on an initial camera pose and an estimated pivot distance. For example, the initial camera pose may be estimated based on a first image captured by the camera. Further, the display may be updated in real-time with an indication of a desired movement direction for the camera. In some embodiments, the indication of desired movement direction may be based, in part, on a current camera pose and the optimal trajectory, where the current camera pose may be estimated based on a current image captured by the camera.
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公开(公告)号：US09661221B2
公开(公告)日：2017-05-23
申请号：US13843201
申请日：2013-03-15
Applicant: QUALCOMM Incorporated
Inventor： Shankar Sadasivam , Ashwin Swaminathan , Mahesh Ramachandran
CPC classification number: H04N5/23245 , H04N5/23216
Abstract: Embodiments of the present invention are directed toward providing intelligent sampling strategies that make efficient use of an always-on camera. To do so, embodiments can utilize sensor information to determine contextual information regarding the mobile device and/or a user of the mobile device. A sampling rate of the always-on camera can then be modulated based on the contextual information.
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公开(公告)号：US20160307328A1
公开(公告)日：2016-10-20
申请号：US15195921
申请日：2016-06-28
Applicant: QUALCOMM Incorporated
Inventor： Mark Leo Moeglein , Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
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.
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Patent Agency Ranking
公开(公告)号：US09159133B2
公开(公告)日：2015-10-13
申请号：US14014174
申请日：2013-08-29
Applicant: QUALCOMM Incorporated
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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17.发明申请Off-Target Tracking Using Feature Aiding in the Context of Inertial Navigation 审中-公开使用功能辅助在惯性导航的背景下的非目标跟踪公开(公告)号：US20150092048A1
公开(公告)日：2015-04-02
申请号：US14497117
申请日：2014-09-25
Applicant: QUALCOMM Incorporated
Inventor： Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
CPC classification number: G06T7/248 , G01C21/165 , G01C25/005 , G01S5/0263 , G01S5/0294 , G01S5/16 , G01S5/163 , G01S19/14 , G06K9/00671 , G06T7/579 , G06T7/80 , G06T2207/10016 , G06T2207/30244 , H04M2250/12 , H04M2250/52 , H04W4/021 , H04W4/029 , H04W4/33
Abstract: A Visual Inertial Tracker (VIT), such as a Simultaneous Localization And Mapping (SLAM) system based on an Extended Kalman Filter (EKF) framework (EKF-SLAM) can provide drift correction in calculations of a pose (translation and orientation) of a mobile device by obtaining location information regarding a target, obtaining an image of the target, estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, and correcting a pose determination of the mobile device using an EKF, based, at least in part, on the measurements relating to the pose of the mobile device.
Abstract translation: 视觉惯性跟踪器（VIT），例如基于扩展卡尔曼滤波器（EKF-SLAM）的同时定位和映射（SLAM）系统，可以在计算一个姿势（平移和定向）时提供漂移校正 通过获取关于目标的位置信息，获得目标图像，基于所述图像和位置信息，从所述目标图像估计与所述移动装置的姿势有关的测量值，以及校正所述移动装置的姿势确定 至少部分地基于与移动设备的姿态有关的测量的使用EKF的移动设备。
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公开(公告)号：US20140168056A1
公开(公告)日：2014-06-19
申请号：US13838467
申请日：2013-03-15
Applicant: QUALCOMM INCORPORATED
Inventor： Ashwin Swaminathan , Mahesh Ramachandran
IPC: G06F3/01
CPC classification number: G06F3/013 , G06F3/0481 , G06F3/147 , G06K9/00604 , G06K9/00671 , G06K9/228 , G06K9/3233 , G09G2340/12
Abstract: Methods and apparatus relating to enabling augmented reality applications using eye gaze tracking are disclosed. An exemplary method according to the disclosure includes displaying an image to a user of a scene viewable by the user, receiving information indicative of an eye gaze of the user, determining an area of interest within the image based on the eye gaze information, determining an image segment based on the area of interest, initiating an object recognition process on the image segment, and displaying results of the object recognition process.
Abstract translation: 公开了使用眼睛注视跟踪实现增强现实应用的方法和装置。 根据本公开的示例性方法包括将图像显示给用户可见的场景的用户，接收指示用户的眼睛凝视的信息，基于眼睛凝视信息确定图像内的感兴趣区域，确定 基于感兴趣区域的图像片段，在图像片段上开始对象识别处理，并显示对象识别处理的结果。
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公开(公告)号：US09367811B2
公开(公告)日：2016-06-14
申请号：US13842928
申请日：2013-03-15
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Ashwin Swaminathan , Shankar Sadasivam
CPC classification number: G06N7/005 , G01C21/36 , G06K9/00664 , G06K9/00993
Abstract: Exemplary methods, apparatuses, and systems infer a context of a user or device. A computer vision parameter is configured according to the inferred context. Performing a computer vision task, in accordance with the configured computer vision parameter. The computer vision task may by at least one of: a visual mapping of an environment of the device, a visual localization of the device or an object within the environment of the device, or a visual tracking of the device within the environment of the device.
Abstract translation: 示例性的方法，装置和系统推断用户或设备的上下文。 根据推断的上下文配置计算机视觉参数。 根据配置的计算机视觉参数执行计算机视觉任务。 计算机视觉任务可以通过以下至少一个来进行：设备的环境的视觉映射，设备的视觉定位或设备的环境内的对象，或者设备的环境内的设备的视觉跟踪 。
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20.发明授权Systems and methods of merging multiple maps for computer vision based tracking 有权合并多个地图的系统和方法，用于基于计算机视觉的跟踪公开(公告)号：US09177404B2
公开(公告)日：2015-11-03
申请号：US13830664
申请日：2013-03-14
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Abhishek Tyagi , Serafin Diaz Spindola
CPC classification number: G06T11/60 , G06K9/3241 , G06K9/38 , G06T7/579
Abstract: Method, apparatus, and computer program product for merging multiple maps for computer vision based tracking are disclosed. In one embodiment, a method of merging multiple maps for computer vision based tracking comprises receiving a plurality of maps of a scene in a venue from at least one mobile device, identifying multiple keyframes of the plurality of maps of the scene, and merging the multiple keyframes to generate a global map of the scene.
Abstract translation: 公开了用于合并用于基于计算机视觉的跟踪的多个地图的方法，装置和计算机程序产品。 在一个实施例中，合并用于基于计算机视觉的跟踪的多个地图的方法包括从至少一个移动设备接收场地中的场景的多个地图，识别场景的多个地图中的多个关键帧，并且合并多个 关键帧生成场景的全局映射。
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