公开(公告)号：US09891059B2

公开(公告)日：2018-02-13

申请号：US14344640

申请日：2012-09-13

Applicant: Marcin Michal Kmiecik ,  Rafal Jan Gliszczynski

Inventor： Marcin Michal Kmiecik ,  Rafal Jan Gliszczynski

IPC: G01C21/34 ,  G01C21/00 ,  G01S19/19 ,  G01S19/49 ,  G01C22/00

CPC classification number: G01C21/3407 ,  G01C21/005 ,  G01C22/006 ,  G01S19/19 ,  G01S19/49

Abstract: A method is disclosed involving receiving GPS data from a personal portable training device. A smoothing operation is performed on the GPS data to generate a more accurate representation of the route travelled for display to a user (504). In the smoothing operation, a cubic spine algorithm is used to obtain an initial estimate of the route representation (500). The estimate is then subjected to a refinement using at least received user motion data recorded by the personal training device (502). In addition one or more of: data indicative of the GPS accuracy; historical route data; and digital map data, such as building footprints and bodies of water, may be used in refining the estimate.

公开(公告)号：US09742432B2

公开(公告)日：2017-08-22

申请号：US13977880

申请日：2010-12-31

Applicant: Marcin Michal Kmiecik ,  Nelson Miguel Da Cruz Gonçalves ,  Ying-Lin Lai

Inventor： Marcin Michal Kmiecik ,  Nelson Miguel Da Cruz Gonçalves ,  Ying-Lin Lai

IPC: A61B5/00 ,  H03M7/30 ,  A61B5/11 ,  G01C22/00

CPC classification number: H03M7/30 ,  A61B5/1112 ,  A61B5/681 ,  A61B5/7232 ,  A61B2503/10 ,  A61B2560/0475 ,  A61B2562/0219 ,  A61B2562/227 ,  G01C22/006

Abstract: A method of compressing data output from one or more accelerometers configured to be transported, carried or worn by a user is provided. Acceleration values indicative of the movement of the user are measured at a first frequency and values representative of the measured acceleration values are generated at a second frequency, which is lower than the first frequency. The step of generating comprises: defining a plurality of time windows, each time window containing a plurality of measured acceleration values; and applying a transformation to the measured acceleration values within each time window to generate a plurality of transformed values. For each time window, storing at least one of said plurality of transformed values and/or one or more parameters associated therewith.

公开(公告)号：US08847982B2

公开(公告)日：2014-09-30

申请号：US12311467

申请日：2007-10-09

Applicant: Marcin Michal Kmiecik ,  Wojciech Tomasz Nowak

Inventor： Marcin Michal Kmiecik ,  Wojciech Tomasz Nowak

IPC: G09G5/00 ,  G09B29/10 ,  G06T3/00 ,  G11C11/02 ,  G06T5/00 ,  G06T3/40

CPC classification number: G06T3/00 ,  G01C11/02 ,  G01C21/32 ,  G06T3/4038 ,  G06T5/006 ,  G09B29/102 ,  G11C11/02

Abstract: A method is disclosed for generating an orthorectified tile. In at least one embodiment, the method includes retrieving source images obtained by way of a terrestrial based camera; retrieving position data associated with the source images; retrieving orientation data associated with the source images; and converting source image by means of corresponding position data and orientation data to obtain the orthorectified tile. Orthorectified tiles are used to generate an orthorectified mosaic. As such, images recorded by terrestrial based camera may be used to generate a map of a road surface with corresponding road signs.

Abstract translation: 公开了一种用于产生正射校正砖的方法。 在至少一个实施例中，该方法包括检索通过地面摄像机获得的源图像; 检索与源图像相关联的位置数据; 检索与源图像相关联的定向数据; 并通过对应的位置数据和取向数据转换源图像以获得正射校正图块。 正交修补的瓦片用于生成正射校正马赛克。 因此，可以使用由地面摄像机记录的图像来生成具有相应道路标志的路面的地图。

公开(公告)号：US08326532B2

公开(公告)日：2012-12-04

申请号：US12312301

申请日：2006-11-06

Applicant: Marcin Michal Kmiecik ,  Krzysztof Miksa

Inventor： Marcin Michal Kmiecik ,  Krzysztof Miksa

IPC: G01S1/00 ,  G01S5/02

CPC classification number: G01C21/28 ,  G01C21/165 ,  G01S19/23 ,  G01S19/47

Abstract: In one embodiment of the present invention, a method of and apparatus for determining inaccurate GPS samples in a set of GPS samples is disclosed, according to the following actions: a) obtaining GPS samples as taken by a global positioning system on board a vehicle when traveling along a trajectory; b) obtaining a first estimation of the trajectory based on the GPS samples; c) obtaining a second estimation of the trajectory at least based on measurements made by an inertial measurement unit on board vehicle when traveling along the trajectory; d) comparing the first and second estimations; e) establishing locations where the first estimation shows a variation compared with the second estimation above a predetermined threshold; f) if no such locations can be established continue with action j), otherwise continue with action g); g) removing GPS samples associated with the locations of high variation as being inaccurate GPS samples, thus forming a set of remaining GPS samples; h) calculating the first estimation anew of the trajectory based on the remaining GPS samples and calculating the second estimation anew; i) repeating actions d) to h); j) ending the actions.

Abstract translation: 在本发明的一个实施例中，公开了一种用于在一组GPS样本集中确定不准确的GPS样本的方法和装置，所述方法和装置根据以下动作：a）获得由车辆上的全球定位系统采取的GPS样本， 沿着轨迹行进; b）基于GPS样本获得轨迹的第一估计; c）至少基于沿着所述轨迹行驶时由所述车辆上的惯性测量单元进行的测量获得所述轨迹的第二估计; d）比较第一和第二估计; e）建立位置，其中所述第一估计显示与所述第二估计高于预定阈值的变化; f）如果不能建立这样的位置，继续采取行动j），否则继续采取行动g）; g）将与高变化位置相关联的GPS样本移除为不准确的GPS样本，从而形成一组剩余的GPS样本; h）基于剩余的GPS样本计算新的轨迹的第一估计，并重新计算第二估计; i）重复动作d）至h）; j）结束行动。

公开(公告)号：US20120004845A1

公开(公告)日：2012-01-05

申请号：US13256463

申请日：2009-12-31

Applicant: Marcin Michal Kmiecik ,  Wojciech Tomasz Nowak

Inventor： Marcin Michal Kmiecik ,  Wojciech Tomasz Nowak

IPC: G01C21/26

CPC classification number: G09B29/10 ,  G01C21/206 ,  G01C21/32 ,  G09B29/003

Abstract: This invention relates to a method for updating digital maps and for matching global navigation devices to a digital map. Such navigation devices rely upon GPS signals (20, 24) from satellites (22, 26). One well-documented cause of position error in navigation devices arises from the phenomenon of GPS multi-path. It has been observed that GPS multi-path errors in the latitude/longitude direction are highly correlated with errors in altitude. By comparing altitude value of GPS probe data with reference specifications for altitude, unreliable probe data (outliers) can be easily identified and culled. Such techniques can be used as well by a mobile navigation device to confirm a match to a particular road segment and if not revert to other positioning techniques such as inertial guidance systems and the like. If the local altitude is not reliably known, an estimation can be derived directly from the collected probe data.

Abstract translation: 本发明涉及一种更新数字地图并将全球导航设备与数字地图相匹配的方法。 这种导航装置依赖于来自卫星（22,26）的GPS信号（20,24）。 导航装置位置误差的一个有据可查的原因来自GPS多路径的现象。 已经观察到，纬度/经度方向上的GPS多径误差与高度误差高度相关。 通过将GPS探头数据的高度值与高度参考规格进行比较，可以轻松识别和淘汰不可靠的探测数据（异常值）。 这样的技术也可以由移动导航装置用于确认与特定路段的匹配，并且如果不能恢复到诸如惯性引导系统等的其他定位技术。 如果本地高度不可靠，则可以从收集的探测数据直接得出估计值。

公开(公告)号：US20110026772A1

公开(公告)日：2011-02-03

申请号：US12735630

申请日：2008-04-18

Applicant: James E. Hagan ,  Arkadiusz Wysocki ,  Marcin Michal Kmiecik

Inventor： James E. Hagan ,  Arkadiusz Wysocki ,  Marcin Michal Kmiecik

IPC: G06K9/00

CPC classification number: H04N19/17 ,  H04N19/124 ,  H04N19/136

Abstract: A method of processing camera data of a mobile mapping system is disclosed. In at least one embodiment, the method includes a) obtaining camera data from at least one camera of the mobile mapping system, b) detecting at least one region in the camera data, c) applying a compression technique on the camera data in a first region, and d) obtaining range sensor data from at least a first range sensor. The range sensor data may at least partially correspond to the camera data. Also, in at least one embodiment, b) includes using the range sensor data to identify the at least one region in the camera data.

Abstract translation: 公开了一种处理移动地图系统的相机数据的方法。 在至少一个实施例中，该方法包括：a）从移动映射系统的至少一个照相机获取照相机数据，b）检测照相机数据中的至少一个区域; c）以第一个方式对照相机数据应用压缩技术 区域，以及d）从至少第一范围传感器获得范围传感器数据。 范围传感器数据可以至少部分地对应于相机数据。 此外，在至少一个实施例中，b）包括使用距离传感器数据来识别相机数据中的至少一个区域。

公开(公告)号：US20100266161A1

公开(公告)日：2010-10-21

申请号：US12734118

申请日：2007-11-16

Applicant: Marcin Michal Kmiecik ,  Lukasz Piotr Taborowski

Inventor： Marcin Michal Kmiecik ,  Lukasz Piotr Taborowski

IPC: G06K9/62

CPC classification number: G06T5/30 ,  G01C21/20 ,  G01C21/26 ,  G06K9/00798 ,  G06T5/002 ,  G06T2207/30256

Abstract: A method of producing lane information for use in a map database is disclosed. In at least one embodiment, the method includes acquiring one or more source images of a road surface and associated position and orientation data, the road having a direction and lane markings parallel to the direction of the road; acquiring road information representative of the direction of said road; transforming the one or more source images to obtain a transformed image in dependence of the road information, wherein each column of pixels of the transformed image corresponds to a surface parallel to the direction of said road; applying a filter with asymmetrical mask on the transformed image to obtain a filtered image; and producing lane information from the filtered image in dependence of the position and orientation data associated with the one or more source images.

Abstract translation: 公开了一种生成用于地图数据库中的车道信息的方法。 在至少一个实施例中，该方法包括获取路面的一个或多个源图像和相关联的位置和方向数据，道路具有平行于道路方向的方向和车道标记; 获取代表所述道路方向的道路信息; 变换所述一个或多个源图像以根据所述道路信息获得变换图像，其中所述变换图像的每列像素对应于与所述道路的方向平行的表面; 在变换图像上应用具有不对称掩模的滤波器以获得滤波图像; 以及根据与一个或多个源图像相关联的位置和取向数据，从经滤波的图像生成车道信息。

公开(公告)号：US20100208937A1

公开(公告)日：2010-08-19

申请号：US12733844

申请日：2007-10-02

Applicant: Marcin Michal Kmiecik ,  Wojciech Tomasz Nowak

Inventor： Marcin Michal Kmiecik ,  Wojciech Tomasz Nowak

IPC: G06K9/46 ,  G06K9/00

CPC classification number: G06T3/0043 ,  G01C21/32 ,  G06T2207/30256

Abstract: A method of producing linear features along a reference-line across a surface for use in a map database is disclosed. In at least one embodiment, the method includes generating, from reference-line data representative of coordinates of the reference-line in a geographic coordinate reference system and source images of the surface adjacent to the reference-line and associated position and orientation data in the geographic coordinate reference system, a reference-line referenced data set, wherein the reference-line referenced data set includes a plurality of sets of image data and associated data defining a reference-line across a surface in the geographic coordinate reference system, the sets of image data including pixels wherein a set of image data corresponds to an orthorectified view representation of a line section of the surface in the geographic coordinate reference system, each set of image data includes a reference pixel being associated with a position on the reference-line, wherein each pixel represents a surface having a position at a distance from the position of the reference pixel along the line section, and wherein the line section perpendicularly crosses the reference-line at the position associated with the reference pixel; and, post processing the reference-line referenced data set to produce linear features along the reference-line and associated locations in the geographic coordinate reference system for use in a map database.

Abstract translation: 公开了沿着用于地图数据库中的表面的参考线产生线性特征的方法。 在至少一个实施例中，该方法包括从参考线数据生成表示地理坐标参考系中的参考线的坐标以及与参考线相邻的表面的源图像以及相关位置和取向数据 地理坐标参考系，参考线参考数据集，其中所述参考线参考数据集包括多组图像数据和相关数据，所述多组图像数据和相关联的数据定义跨越所述地理坐标参考系中的表面的参考线， 包括像素的图像数据，其中一组图像数据对应于地理坐标参考系统中的表面的线段的正视校正视图表示，每组图像数据包括与参考线上的位置相关联的参考像素， 其中每个像素表示具有与参考像素的位置相距一定距离的位置的表面 所述线部分，并且其中所述线部分在与所述参考像素相关联的位置垂直地穿过所述参考线; 并且后处理参考线参考数据集以沿着地理坐标参考系中的参考线和相关联的位置产生线性特征，以在地图数据库中使用。